Propelling type heating furnace cast ingot dynamic tracking system based on multi-sensor fusion

Abstract

The invention belongs to the technical field of process control, and discloses a push type heating furnace cast ingot dynamic tracking system based on multi-sensor fusion. Comprising the steps of obtaining ingot heating process information and ingot state data; processing the state data of the cast ingot to obtain a global temperature value of the cast ingot; feeding the cast ingot into a push type heating furnace according to the cast ingot heating process information for first-stage heating, judging whether the heating time of the first stage is adjusted or not according to the global temperature value of the cast ingot, and sending out a corresponding control instruction according to a judgment result; and performing second-stage and third-stage heating on the cast ingot after the first-stage heating according to the cast ingot heating process information, obtaining moving time according to the cast ingot state data, judging whether to adjust the heating time of the second stage and the third stage according to the moving time and the overall temperature value of the cast ingot, and sending a corresponding control instruction according to a judgment result. Heating the cast ingot; and the accuracy of ingot casting temperature control in the ingot casting heating process is further improved.

Description

Technical Field

[0001] The present invention relates to the technical field of process control, and more particularly to a pusher-type heating furnace ingot dynamic tracking system based on multi-sensor fusion. Background Art

[0002] The patent application with publication number CN111020171A discloses a method for heating aluminum alloy ingots by continuous charging of a pusher-type heating furnace, which relates to a method for heating aluminum alloy ingots by a pusher-type heating furnace. The purpose of the present invention is to solve the problem that the existing pusher-type heating furnace is a periodic heat treatment furnace, the production efficiency of this method is low, the hot rolling mill needs to wait for the material to be isothermal between the production of two furnace charges, the energy consumption is large, the ingots in one furnace are heated at the same time, but are produced one after another, and the material produced later needs to be kept warm in the pusher-type heating furnace, which consumes energy. Method: 1. Determine the temperature at which the ingots are discharged from the furnace; 2. Determine the time at which the ingots are discharged from the furnace; 3. Determine the heating temperature; 4. Heating. The present invention is mainly used for heating aluminum alloy ingots by continuous charging of a pusher-type heating furnace.

[0003] However, during the heating process of the ingot, the traditional method usually determines the overall temperature of the ingot by only measuring the temperature of a certain point of the ingot. The temperature of a certain point of the ingot does not represent the temperature of the entire ingot, thereby reducing the accuracy of the ingot temperature measurement. It is possible that the temperature of a certain point of the ingot reaches the target temperature, but the temperature of the rest of the ingot does not reach the target temperature, which will cause the heating of the ingot to be stopped prematurely, so that the temperature of the ingot does not reach the target temperature, which will lead to insufficient plasticity and poor fluidity of the ingot, and also increase the probability of defects in the ingot in subsequent operations, resulting in waste of ingot materials and loss of resources. In addition, during the heating process of the ingot, the heating time cannot be adjusted in real time and accurately. When the ingot enters the next area for heating, the conveyor belt transporting the ingot may be stuck or stagnant. , resulting in an increase in the time taken for the ingot to reach the next area, thereby accelerating the cooling of the ingot, that is, the temperature of the ingot when it reaches the next area is lower than normal. If the heating time cannot be adjusted accurately in real time, the ingot heating time will be insufficient and the target temperature will not be reached. The conveyor belt for transporting the ingot may also be abnormally accelerated, resulting in a shortened time taken for the ingot to reach the next area, so that the temperature of the ingot when it reaches the next area is higher than normal. If the heating time cannot be adjusted accurately in real time, the ingot heating time will be too long, which may cause the ingot temperature to be higher than the target temperature, thereby reducing the strength of the ingot material, reducing the ductility, and deteriorating the impact toughness, increasing the probability of defects in the ingot, and causing waste of ingot material and loss of resources.

[0004] In view of this, the present invention proposes a pusher-type heating furnace ingot dynamic tracking system based on multi-sensor fusion to solve the above problems. Summary of the Invention

[0005] In order to overcome the above-mentioned defects of the prior art and to achieve the above-mentioned purpose, the present invention provides the following technical solution: a dynamic tracking system for ingot casting in a pusher heating furnace based on multi-sensor fusion, comprising: Ingot information acquisition module, used to obtain ingot heating process information and ingot status data; The state data analysis module is used to process the ingot state data and obtain the global temperature value of the ingot; The initial stage heating module is used to send the ingot into the pusher heating furnace for the first stage of heating according to the ingot heating process information, and to determine whether to adjust the first stage heating time according to the global temperature value of the ingot, and to issue corresponding control instructions based on the judgment result; The final stage heating module is used to perform second and third stage heating on the ingot that has completed the first stage heating according to the ingot heating process information, obtain the movement time according to the ingot status data, and judge whether to adjust the heating time of the second and third stages according to the movement time and the global temperature value of the ingot. The corresponding control instructions are issued according to the judgment result, and the ingot heating is completed.

[0006] Furthermore, the pusher-type heating furnace is provided with a preheating zone, a soaking zone and a heat preservation zone; The ingot heating process information includes the first stage, the second stage and the third stage, which are respectively carried out in the preheating zone, the soaking zone and the holding zone. The ingot heating process information also includes the target temperature values ​​that the ingot needs to reach in the preheating zone, the soaking zone and the holding zone and the initial time of heating the ingot in the preheating zone, the soaking zone and the holding zone; The ingot state data includes infrared images of the upper surface, the left surface, and the right surface of the ingot and the moving speed of the ingot.

[0007] Furthermore, the method of processing the ingot state data to obtain the global temperature value of the ingot includes: In the preheating zone, grayscale normalization processing is performed on the infrared image of the upper surface of the ingot to obtain a grayscale image of the upper surface of the ingot, Canny edge detection is performed on the grayscale image of the upper surface of the ingot to obtain a contour of the upper surface of the ingot, the grayscale image within the contour of the upper surface of the ingot is recorded as a grayscale image of the upper surface area of ​​the ingot, the upper surface temperature value of the ingot is obtained according to the grayscale image of the upper surface area of ​​the ingot, the left surface temperature value and the right surface temperature value of the ingot are obtained by the same method as that for obtaining the upper surface temperature value of the ingot, and the average value of the upper surface temperature value, the left surface temperature value and the right surface temperature value of the ingot is taken as the global temperature value of the ingot in the preheating zone; The global temperature values ​​of the ingot in the equalizing zone and the holding zone are obtained by the same method as that for obtaining the global temperature value of the ingot in the preheating zone.

[0008] Furthermore, the method for obtaining the upper surface temperature value of the ingot based on the grayscale image of the upper surface area of ​​the ingot includes: The grayscale value of each pixel in the grayscale image of the ingot upper surface area is converted into a temperature value, and the average temperature value of all pixel points in the grayscale image of the ingot upper surface area is recorded as the ingot upper surface temperature value.

[0009] Furthermore, the method of feeding the ingot into the pusher heating furnace for first-stage heating according to the ingot heating process information includes: The ingot is fed into the preheating zone of the pusher heating furnace for the first stage of heating. The initial time of heating the ingot in the preheating zone is recorded as t1, and the heating time of the first stage is initially set to t1.

[0010] Furthermore, the method of determining whether to adjust the heating time of the first stage according to the global temperature value of the ingot and issuing a corresponding control instruction according to the determination result includes: After the initial time t1, the global temperature value of the ingot in the preheating zone is compared with the target temperature value that the ingot needs to reach in the preheating zone. If the comparison results are the same, the heating time of the first stage is not adjusted, and a control instruction to move the ingot to the soaking zone is issued to move the ingot to the soaking zone. When the global temperature value of the ingot in the preheating zone is lower than the target temperature value that the ingot needs to reach in the preheating zone, the heating time of the first stage is adjusted, a control instruction for continuing heating is issued, and the ingot continues to be heated in the preheating zone until the global temperature value of the ingot in the preheating zone is the same as the target temperature value that the ingot needs to reach in the preheating zone, and a control instruction for moving the ingot to the soaking zone is issued to move the ingot to the soaking zone; When the global temperature value of the ingot in the preheating zone is greater than the target temperature value that the ingot needs to reach in the preheating zone, the heating time of the first stage is not adjusted, and a control instruction to stop heating is issued to stop heating the ingot. When the global temperature value of the ingot in the preheating zone is reduced to the same as the target temperature value that the ingot needs to reach in the preheating zone, a control instruction to move to the equalizing zone is issued to move the ingot to the equalizing zone.

[0011] Furthermore, the method for obtaining the moving time based on the ingot state data includes: The distance the ingot moves from the preheating zone to the soaking zone is obtained, and the moving time of the ingot from the preheating zone to the soaking zone is obtained according to the distance the ingot moves from the preheating zone to the soaking zone and the moving speed of the ingot from the preheating zone to the soaking zone.

[0012] Furthermore, the method of judging whether to adjust the heating time of the second stage and the third stage according to the movement time and the global temperature value of the ingot, and issuing corresponding control instructions according to the judgment result includes: Obtain n historical ingot heating processes, and obtain the historical movement time of the ingot from the preheating zone to the soaking zone, the historical global temperature value when the ingot arrives at the soaking zone, and the heating time taken for the historical global temperature value when the ingot arrives at the soaking zone to be heated to the same target temperature value as the ingot needs to reach in the soaking zone during the historical ingot heating process, thereby obtaining a global temperature-movement time function and a global temperature-heating time function; Obtain the heating time t2 corresponding to the global temperature value when the ingot reaches the soaking zone based on the global temperature-movement time function and the global temperature-heating time function, and adjust the initial heating time of the ingot in the soaking zone to t2; The ingot is heated in the soaking zone. After the heating time t2, the global temperature value of the ingot in the soaking zone is compared with the target temperature value that the ingot needs to reach in the soaking zone. The corresponding control instruction is issued according to the comparison result, and the second stage of heating of the ingot is completed; The third stage of heating of the ingot is completed using the same method as the second stage of heating.

[0013] Furthermore, the method for obtaining the global temperature-movement time function and the global temperature-heating time function includes: The historical global temperature value when the ingot reaches the soaking zone during the historical ingot heating process is fitted with the historical movement time of the ingot from the preheating zone to the soaking zone to obtain the corresponding fitting function, which is recorded as the global temperature-movement time function; The historical global temperature value when the ingot arrives at the soaking zone is fitted with the heating time used when the historical global temperature value when the ingot arrives at the soaking zone is heated to the same target temperature value as the ingot needs to reach in the soaking zone, and the corresponding fitting function is obtained and recorded as the global temperature-heating time function.

[0014] Furthermore, the method for obtaining the heating time corresponding to the global temperature value when the ingot reaches the soaking zone based on the global temperature-movement time function and the global temperature-heating time function includes: The moving time of the ingot from the preheating zone to the equalizing zone is input into the global temperature-moving time function to obtain the global temperature value when the ingot reaches the equalizing zone. The global temperature value when the ingot reaches the equalizing zone is input into the global temperature-heating time function to obtain the heating time corresponding to the global temperature value when the ingot reaches the equalizing zone.

[0015] The technical effects and advantages of the pusher heating furnace ingot dynamic tracking system based on multi-sensor fusion of the present invention are as follows: 1. An infrared thermal imaging sensor is used to obtain infrared images of the top, left, and right surfaces of the ingot. The overall temperature of the ingot is determined based on the infrared images of the top, left, and right surfaces of the ingot, rather than based on the temperature of a specific point on the ingot. This further increases the accuracy of temperature measurement during the heating process. 2. Fully automatic closed-loop control is achieved by issuing control instructions, reducing manual intervention and saving human resources. The temperature of the ingot when heated in the pusher heating furnace is high, and manual operation is too dangerous. By issuing control instructions, full-automatic closed-loop control is achieved, reducing the possibility of safety accidents during the ingot heating process; 3. Determine whether to adjust the heating time of the first stage based on the global temperature value of the ingot, issue corresponding control instructions based on the judgment result, obtain the movement time based on the ingot status data, determine whether to adjust the heating time of the second and third stages based on the movement time and the global temperature value of the ingot, issue corresponding control instructions based on the judgment result, obtain the temperature of the ingot when it arrives at the corresponding area based on the movement time of the ingot, adjust the heating time of the ingot in real time and accurately based on the temperature of the ingot when it arrives at the corresponding area, and after the heating of the ingot is completed, check again whether the ingot has reached the target temperature, and adjust the heating time of the ingot again based on the detection result, so that the ingot reaches the target temperature accurately, thereby improving the plasticity, fluidity, material strength, ductility, impact toughness, etc. of the ingot, and at the same time reducing the probability of defects in the ingot in subsequent operations, saving ingot resources, and reducing the losses caused by defects in the ingot in the factory. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Schematic diagram of the pusher-type heating furnace ingot dynamic tracking system based on multi-sensor fusion of the present invention; Figure 2 Schematic diagram of the pusher-type heating furnace ingot dynamic tracking method based on multi-sensor fusion of the present invention; Figure 3 This is a flow chart of obtaining the global temperature-movement time function and the global temperature-heating time function of the present invention. DETAILED DESCRIPTION

[0017] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0018] Example 1 See also Figure 1 and Figure 3As shown, the pusher heating furnace ingot dynamic tracking system based on multi-sensor fusion described in this embodiment includes: Ingot information acquisition module, used to obtain ingot heating process information and ingot status data; The state data analysis module is used to process the ingot state data and obtain the global temperature value of the ingot; The initial stage heating module is used to send the ingot into the pusher heating furnace for the first stage of heating according to the ingot heating process information, and to determine whether to adjust the first stage heating time according to the global temperature value of the ingot, and to issue corresponding control instructions based on the judgment result; The final stage heating module is used to perform second and third stage heating on the ingot that has completed the first stage heating according to the ingot heating process information, obtain the movement time according to the ingot status data, and judge whether to adjust the heating time of the second and third stages according to the movement time and the global temperature value of the ingot. The corresponding control instructions are issued according to the judgment result, and the ingot heating is completed.

[0019] The process of obtaining ingot heating process information and ingot status data includes: The pusher heating furnace is equipped with a preheating zone, a soaking zone and a holding zone. The preheating zone, soaking zone and holding zone are all set with different temperature ranges. For example, the temperature range of the preheating zone can be set to 100-400℃. The ingot first enters the preheating zone for heating, the purpose of which is to gradually eliminate the temperature difference between the ingot and the furnace environment and prevent thermal shock cracks. The temperature range of the soaking zone can be set to 400-400℃. The ingot then enters the preheating zone for heating, the purpose of which is to quickly increase the overall temperature of the ingot to reach the deformation temperature zone required for hot working. The temperature range of the holding zone can be set to 620-650℃. The ingot finally enters the preheating zone for heating, the purpose of which is to ensure uniform temperature distribution inside the entire ingot and reduce internal stress. The ingot heating process information includes three heating stages, namely the first stage, the second stage and the third stage, which are respectively carried out in the preheating zone, the soaking zone and the holding zone, and the ingot heating process information also includes the target temperature value that the ingot needs to reach in the preheating zone, the target temperature value that the ingot needs to reach in the soaking zone, the target temperature value that the ingot needs to reach in the holding zone, the initial time of heating the ingot in the preheating zone, the initial time of heating the ingot in the soaking zone and the initial time of heating the ingot in the holding zone; An ingot heating process information collection terminal is set up, configured, and a corresponding configuration channel is generated. The generated configuration channel is used to link to the server of the corresponding factory. The server of the factory stores the ingot heating process information. The ingot heating process information collection terminal obtains the ingot heating process information in the corresponding server through the configuration channel. The configuration of the ingot heating process information collection terminal includes: Pre-configure the server's IP address and communication port in the configuration file of the ingot heating process information collection terminal, and configure the server's timeout period and the number and interval of reconnections when a connection fails in the configuration file; The ingot state data includes an infrared image of the ingot and a moving speed of the ingot; Install infrared thermal imaging sensors (such as infrared thermal imagers, etc.) on the top and both sides of the preheating zone, the soaking zone, and the holding zone, respectively, and the infrared thermal imaging sensors are used to obtain infrared images of the ingot; Acquire infrared images of the upper surface, left surface, and right surface of the ingot by using an infrared thermal imaging sensor; The moving speed of the ingot is obtained through the speed sensor.

[0020] The process of processing the ingot state data to obtain the global temperature value of the ingot includes: The infrared thermal imager captures a "temperature map" where the original value of each pixel is a temperature value, such as 412.5°C, 598.3°C, or 631.2°C. However, image processing tools (such as OpenCV and Matlab) process grayscale images, where grayscale 0 represents "black" (the lowest value) and grayscale 255 represents "white" (the highest value). To make the image processable / displayable, we need to "compress" all temperature values ​​into the range of 0–255. This compression process is called grayscale normalization. In the preheating zone, the infrared image of the upper surface of the ingot is grayscale normalized to obtain a grayscale image of the upper surface of the ingot. ; in, ; in, is the pixel horizontal coordinate, is the pixel ordinate, is the pixel coordinate, The pixel coordinates in the grayscale image of the ingot upper surface are The gray value of the pixel, The pixel coordinates in the infrared image of the ingot upper surface are The temperature value of the pixel point, is the lowest temperature value among all pixels in the infrared image of the ingot upper surface, The highest temperature value among all pixels in the infrared image of the ingot upper surface; Perform Canny edge detection on the grayscale image of the upper surface of the ingot to obtain the outline of the upper surface of the ingot, and record the grayscale image within the outline of the upper surface of the ingot as the grayscale image of the upper surface area of ​​the ingot; Convert the grayscale value of each pixel in the grayscale image of the upper surface area of ​​the ingot into a temperature value , calculate the average temperature value of all pixels in the grayscale image of the upper surface area of ​​the ingot, and record the average temperature value of all pixels in the grayscale image of the upper surface area of ​​the ingot as the upper surface temperature value of the ingot; The process of converting the grayscale value of each pixel in the grayscale image of the upper surface area of ​​the ingot into a temperature value includes: in, ; The pixel coordinates in the grayscale image of the upper surface area of ​​the ingot are The temperature value of the pixel point; In the preheating zone, grayscale normalization processing is performed on the infrared image of the left surface of the ingot to obtain a grayscale image of the left surface of the ingot, Canny edge detection is performed on the grayscale image of the left surface of the ingot to obtain the contour of the left surface of the ingot, and the grayscale image within the contour of the left surface of the ingot is recorded as the grayscale image of the left surface area of ​​the ingot; Converting the grayscale value of each pixel in the grayscale image of the left side surface area of ​​the ingot into a temperature value, calculating the average temperature value of all pixels in the grayscale image of the left side surface area of ​​the ingot, and recording the average temperature value of all pixels in the grayscale image of the left side surface area of ​​the ingot as the left side surface temperature value of the ingot; In the preheating zone, grayscale normalization processing is performed on the infrared image of the right surface of the ingot to obtain a grayscale image of the right surface of the ingot, Canny edge detection is performed on the grayscale image of the right surface of the ingot to obtain the contour of the right surface of the ingot, and the grayscale image within the contour of the right surface of the ingot is recorded as the grayscale image of the right surface area of ​​the ingot; Converting the grayscale value of each pixel in the grayscale image of the right side surface area of ​​the ingot into a temperature value, calculating the average temperature value of all pixels in the grayscale image of the right side surface area of ​​the ingot, and recording the average temperature value of all pixels in the grayscale image of the right side surface area of ​​the ingot as the right side surface temperature value of the ingot; Calculate the average of the upper surface temperature of the ingot, the left surface temperature of the ingot, and the right surface temperature of the ingot, and use the average of the upper surface temperature of the ingot, the left surface temperature of the ingot, and the right surface temperature of the ingot as the global temperature value of the ingot in the preheating zone; In the soaking zone, the global temperature value of the ingot in the soaking zone is obtained by the same method as that of obtaining the global temperature value of the ingot in the preheating zone; In the holding zone, the global temperature value of the ingot in the holding zone is obtained by the same method as that used to obtain the global temperature value of the ingot in the preheating zone; It needs to be explained that traditional methods usually determine the overall temperature of the ingot by measuring the temperature of a certain point of the ingot. The temperature of a certain point of the ingot does not represent the temperature of the entire ingot, which reduces the accuracy of the ingot temperature measurement. It is possible that the temperature of a certain point of the ingot reaches the target temperature, but the rest of the ingot does not reach the target temperature, which will cause the heating of the ingot to be stopped prematurely, so that the temperature of the ingot does not reach the target temperature, thereby resulting in insufficient plasticity and poor fluidity of the ingot, and also increases the probability of defects in the ingot in subsequent operations, resulting in waste of ingot materials and loss of resources. Therefore, the present invention obtains infrared images of the upper surface, left surface and right surface of the ingot through an infrared thermal imaging sensor, and determines the overall temperature of the ingot based on the infrared images of the upper surface, left surface and right surface of the ingot, rather than determining the overall temperature of the ingot based on the temperature of a certain point of the ingot, further increasing the accuracy of temperature measurement of the ingot during the heating process.

[0021] The ingot is fed into a pusher heating furnace for the first stage of heating according to the ingot heating process information, and the first stage heating time is determined based on the global temperature value of the ingot. The process of issuing corresponding control instructions based on the judgment result includes: The ingot is fed into the preheating zone of the pusher heating furnace for the first stage of heating. The initial time of heating the ingot in the preheating zone is recorded as t1. After the initial time t1, the global temperature value of the ingot in the preheating zone is compared with the target temperature value that the ingot needs to reach in the preheating zone. When the global temperature value of the ingot in the preheating zone is the same as the target temperature value that the ingot needs to reach in the preheating zone, the heating time of the first stage is not adjusted, and a control instruction for moving the ingot into the soaking zone is issued. The ingot is moved into the soaking zone according to the control instruction for moving the ingot into the soaking zone. When the global temperature value of the ingot in the preheating zone is lower than the target temperature value that the ingot needs to reach in the preheating zone, the heating time of the first stage is adjusted, a control instruction for continuing heating is issued, and the ingot is continued to be heated in the preheating zone according to the control instruction for continuing heating (i.e., the heating time of the first stage is increased) until the global temperature value of the ingot in the preheating zone is the same as the target temperature value that the ingot needs to reach in the preheating zone, a control instruction for moving to the soaking zone is issued, and the ingot is moved to the soaking zone according to the control instruction for moving to the soaking zone; When the global temperature value of the ingot in the preheating zone is greater than the target temperature value that the ingot needs to reach in the preheating zone, the heating time of the first stage is not adjusted, and a control instruction to stop heating is issued. According to the control instruction to stop heating, the heating of the ingot is stopped in the preheating zone. When the global temperature value of the ingot in the preheating zone is reduced to the same as the target temperature value that the ingot needs to reach in the preheating zone, a control instruction to move to the equalizing zone is issued. According to the control instruction to move to the equalizing zone, the ingot is moved to the equalizing zone.

[0022] The process of heating the ingot that has completed the first stage of heating in the second and third stages according to the ingot heating process information, obtaining the movement time according to the ingot state data, judging whether to adjust the heating time of the second and third stages according to the movement time and the global temperature value of the ingot, and issuing corresponding control instructions according to the judgment result includes: Obtaining the distance the ingot moves from the preheating zone to the soaking zone, and obtaining the moving time of the ingot from the preheating zone to the soaking zone according to the distance the ingot moves from the preheating zone to the soaking zone and the moving speed of the ingot from the preheating zone to the soaking zone; Obtain n historical ingot heating processes, where n can be set through experimental data analysis or experience, and obtain the historical movement time of the ingot from the preheating zone to the soaking zone during the historical ingot heating process, the historical global temperature value of the ingot when it arrives at the soaking zone, and the heating time required for the historical global temperature value of the ingot when it arrives at the soaking zone to be the same as the target temperature value that the ingot needs to reach in the soaking zone; It should be explained that the historical movement time of the ingot from the preheating zone to the soaking zone during the n historical ingot heating processes obtained are all different; The historical global temperature value when the ingot reaches the soaking zone during the historical ingot heating process is fitted with the historical movement time of the ingot from the preheating zone to the soaking zone, and a fitting function corresponding to the historical global temperature value when the ingot reaches the soaking zone during the historical ingot heating process and the historical movement time of the ingot from the preheating zone to the soaking zone is obtained, and recorded as a global temperature-movement time function, where the independent variable of the global temperature-movement time function is the movement time, and the dependent variable of the global temperature-movement time function is the global temperature value; The historical global temperature value when the ingot arrives at the soaking zone is fitted with the heating time used when the historical global temperature value when the ingot arrives at the soaking zone is heated to the same target temperature value as the ingot needs to reach in the soaking zone, and a fitting function corresponding to the historical global temperature value when the ingot arrives at the soaking zone and the heating time used when the historical global temperature value when the ingot arrives at the soaking zone is heated to the same target temperature value as the ingot needs to reach in the soaking zone is obtained, and recorded as a global temperature-heating time function, the independent variable of the global temperature-heating time function is the global temperature value, and the dependent variable of the global temperature-heating time function is the heating time; Input the moving time of the ingot from the preheating zone to the soaking zone into the global temperature-moving time function to obtain the global temperature value when the ingot arrives at the soaking zone; input the global temperature value when the ingot arrives at the soaking zone into the global temperature-heating time function to obtain the heating time t2 corresponding to the global temperature value when the ingot arrives at the soaking zone; adjust the initial time of heating the ingot in the soaking zone to t2; when the heating time t2 corresponding to the global temperature value when the ingot arrives at the soaking zone is the same as the initial time of heating the ingot in the soaking zone, do not adjust the initial time of heating the ingot in the soaking zone; It should be explained that, in the process of moving the ingot to the soaking zone, it is possible that the ingot may become stuck or stagnant, thereby increasing the time required for the ingot to reach the soaking zone, and further causing the ingot to be lower than usual when it reaches the soaking zone. If the ingot is still heated according to the initial time of heating in the soaking zone, the global temperature of the ingot will not reach the target temperature, so it is necessary to adjust the heating time of the ingot. In the process of moving the ingot to the soaking zone, it is also possible that the ingot may be abnormally accelerated, thereby reducing the time required for the ingot to reach the soaking zone, and further causing the ingot to be higher than usual when it reaches the soaking zone. If the ingot is still heated according to the initial time of heating in the soaking zone, the global temperature of the ingot may exceed the target temperature, so it is necessary to adjust the heating time of the ingot. The ingot is heated in the soaking zone. After the heating time t2, the global temperature value of the ingot in the soaking zone is compared with the target temperature value that the ingot needs to reach in the soaking zone. When the global temperature value of the ingot in the soaking zone is the same as the target temperature value that the ingot needs to reach in the soaking zone, a control instruction to move the ingot into the holding zone is issued, and the ingot is moved into the holding zone according to the control instruction to move the ingot into the holding zone; When the global temperature value of the ingot in the soaking zone is lower than the target temperature value that the ingot needs to reach in the soaking zone, a control instruction for continuing heating is issued. According to the control instruction for continuing heating, the ingot is continued to be heated in the soaking zone (i.e., the heating time of the second stage is increased) until the global temperature value of the ingot in the soaking zone is the same as the target temperature value that the ingot needs to reach in the soaking zone. Then, a control instruction for moving to the holding zone is issued. According to the control instruction for moving to the holding zone, the ingot is moved to the holding zone. When the global temperature value of the ingot in the soaking zone is greater than the target temperature value that the ingot needs to reach in the soaking zone, a control instruction to stop heating is issued. According to the control instruction to stop heating, heating of the ingot is stopped in the soaking zone. When the global temperature value of the ingot in the soaking zone drops to the same as the target temperature value that the ingot needs to reach in the soaking zone, a control instruction to move to the holding zone is issued. According to the control instruction to move to the holding zone, the ingot is moved to the holding zone, and the second stage of heating of the ingot is completed. It should be explained that the traditional method cannot accurately adjust the heating time in real time during the ingot heating process. When the ingot enters the next area for heating, the conveyor belt for transporting the ingot may be stuck or stagnant, resulting in an increase in the time taken for the ingot to reach the next area, thereby accelerating the cooling of the ingot, that is, the temperature of the ingot when it reaches the next area is lower than normal. If the heating time cannot be accurately adjusted in real time, the ingot heating time will be insufficient and the target temperature will not be reached. The conveyor belt for transporting the ingot may also be abnormally accelerated, resulting in a shortened time taken for the ingot to reach the next area, making the temperature of the ingot higher than normal when it reaches the next area. If the heating time cannot be accurately adjusted in real time, the ingot heating time will be too long, which may cause the ingot temperature to be higher than the target temperature, thereby reducing the strength of the ingot material, reducing the ductility, and deteriorating the impact toughness, which increases the probability of defects in the ingot and causes the ingot material to be Waste and loss of resources, therefore, the present invention judges whether to adjust the heating time of the first stage according to the global temperature value of the ingot, issues corresponding control instructions according to the judgment result, obtains the moving time according to the ingot state data, judges whether to adjust the heating time of the second stage and the third stage according to the moving time and the global temperature value of the ingot, issues corresponding control instructions according to the judgment result, obtains the temperature of the ingot when it arrives at the corresponding area according to the moving time of the ingot, adjusts the heating time of the ingot in real time and accurately according to the temperature of the ingot when it arrives at the corresponding area, and detects again whether the ingot reaches the target temperature after the heating of the ingot is completed, and adjusts the heating time of the ingot again according to the detection result, so that the ingot reaches the target temperature accurately, improves the plasticity, fluidity, material strength, ductility, impact toughness, etc. of the ingot, and also reduces the probability of defects in the ingot in subsequent operations, saves ingot resources, and reduces the loss of the factory caused by defects in the ingot; The third stage heating of the ingot is completed by the same method as the second stage heating. After the third stage heating of the ingot is completed, the heating of the ingot in the pusher heating furnace is completed.

[0023] In this embodiment, infrared images of the upper surface, left surface and right surface of the ingot are obtained by an infrared thermal imaging sensor, and the overall temperature of the ingot is determined based on the infrared images of the upper surface, left surface and right surface of the ingot, rather than based on the temperature of a certain point of the ingot, thereby further increasing the accuracy of temperature measurement of the ingot during the heating process; fully automatic closed-loop control is achieved by issuing control instructions, which reduces manual intervention and saves human resources. The temperature of the ingot is high when heated in a push-type heating furnace, and manual operation is too dangerous. Fully automatic closed-loop control is achieved by issuing control instructions, which reduces the possibility of safety accidents during the heating process of the ingot; whether to adjust the heating time of the first stage is determined based on the global temperature value of the ingot, and corresponding control instructions are issued based on the judgment result. The system generates an instruction, obtains the moving time according to the ingot status data, determines whether to adjust the heating time of the second stage and the third stage according to the moving time and the global temperature value of the ingot, issues a corresponding control instruction according to the judgment result, obtains the temperature of the ingot when it arrives at the corresponding area according to the moving time of the ingot, adjusts the heating time of the ingot in real time and accurately according to the temperature of the ingot when it arrives at the corresponding area, and detects whether the ingot has reached the target temperature again after the heating of the ingot is completed, and adjusts the heating time of the ingot again according to the detection result, so that the ingot reaches the target temperature accurately, improves the plasticity, fluidity, material strength, ductility, impact toughness, etc. of the ingot, and also reduces the probability of defects in the ingot in subsequent operations, saves ingot resources, and reduces the loss of the factory caused by defects in the ingot.

[0024] Example 2 See also Figure 2 As shown, for the parts not described in detail in this embodiment, please refer to the description of Example 1. A method for dynamic tracking of ingots in a pusher heating furnace based on multi-sensor fusion is provided, comprising: Step S1: Acquire ingot heating process information and ingot status data; Step S2: Processing the ingot state data to obtain the global temperature value of the ingot; Step S3: feeding the ingot into the pusher heating furnace for the first stage of heating according to the ingot heating process information, and judging whether to adjust the first stage heating time according to the global temperature value of the ingot, and issuing corresponding control instructions according to the judgment result; Step S4: The ingot that has completed the first stage of heating is heated in the second and third stages according to the ingot heating process information, the movement time is obtained according to the ingot status data, and whether to adjust the heating time of the second and third stages is determined according to the movement time and the global temperature value of the ingot. The corresponding control instructions are issued according to the judgment result, and the ingot heating is completed.

[0025] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in the present invention can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0026] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only one type. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0027] The above description is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed by the present invention, which should be covered by the scope of protection of the present invention.

[0028] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. The pusher heating furnace ingot dynamic tracking system based on multi-sensor fusion is characterized by: The pusher-type heating furnace ingot dynamic tracking system based on multi-sensor fusion includes: Ingot information acquisition module, used to obtain ingot heating process information and ingot status data; The state data analysis module is used to process the ingot state data and obtain the global temperature value of the ingot; The initial stage heating module is used to send the ingot into the pusher heating furnace for the first stage of heating according to the ingot heating process information, and to determine whether to adjust the first stage heating time according to the global temperature value of the ingot, and to issue corresponding control instructions based on the judgment result; The final stage heating module is used to perform second and third stage heating on the ingot that has completed the first stage heating according to the ingot heating process information, obtain the movement time according to the ingot status data, and judge whether to adjust the heating time of the second and third stages according to the movement time and the global temperature value of the ingot. The corresponding control instructions are issued according to the judgment result, and the ingot heating is completed.

2. The pusher-type heating furnace ingot dynamic tracking system based on multi-sensor fusion according to claim 1 is characterized in that: The pusher type heating furnace is provided with a preheating zone, a soaking zone and a heat preservation zone; The ingot heating process information includes the first stage, the second stage and the third stage, which are respectively carried out in the preheating zone, the soaking zone and the holding zone. The ingot heating process information also includes the target temperature values ​​that the ingot needs to reach in the preheating zone, the soaking zone and the holding zone and the initial time of heating the ingot in the preheating zone, the soaking zone and the holding zone; The ingot state data includes infrared images of the upper surface, the left surface, and the right surface of the ingot and the moving speed of the ingot.

3. The pusher-type heating furnace ingot dynamic tracking system based on multi-sensor fusion according to claim 2 is characterized in that: The method for obtaining the global temperature value of the ingot comprises: In the preheating zone, grayscale normalization processing is performed on the infrared image of the upper surface of the ingot to obtain a grayscale image of the upper surface of the ingot, Canny edge detection is performed on the grayscale image of the upper surface of the ingot to obtain a contour of the upper surface of the ingot, the grayscale image within the contour of the upper surface of the ingot is recorded as a grayscale image of the upper surface area of ​​the ingot, the upper surface temperature value of the ingot is obtained according to the grayscale image of the upper surface area of ​​the ingot, the left surface temperature value and the right surface temperature value of the ingot are obtained by the same method as that for obtaining the upper surface temperature value of the ingot, and the average value of the upper surface temperature value, the left surface temperature value and the right surface temperature value of the ingot is taken as the global temperature value of the ingot in the preheating zone; The global temperature values ​​of the ingot in the equalizing zone and the holding zone are obtained by the same method as that for obtaining the global temperature value of the ingot in the preheating zone.

4. The pusher-type heating furnace ingot dynamic tracking system based on multi-sensor fusion according to claim 3 is characterized in that: The method for obtaining the upper surface temperature value of the ingot based on the grayscale image of the upper surface area of ​​the ingot comprises: The grayscale value of each pixel in the grayscale image of the ingot upper surface area is converted into a temperature value, and the average temperature value of all pixel points in the grayscale image of the ingot upper surface area is recorded as the ingot upper surface temperature value.

5. The pusher-type heating furnace ingot dynamic tracking system based on multi-sensor fusion according to claim 4 is characterized in that: The method of feeding the ingot into the pusher heating furnace for first-stage heating according to the ingot heating process information includes: The ingot is fed into the preheating zone of the pusher heating furnace for the first stage of heating. The initial time of heating the ingot in the preheating zone is recorded as t1, and the heating time of the first stage is initially set to t1.

6. The pusher-type heating furnace ingot dynamic tracking system based on multi-sensor fusion according to claim 5 is characterized in that: The method of determining whether to adjust the heating time of the first stage according to the global temperature value of the ingot and issuing a corresponding control instruction according to the determination result includes: After the initial time t1, the global temperature value of the ingot in the preheating zone is compared with the target temperature value that the ingot needs to reach in the preheating zone. If the comparison results are the same, the heating time of the first stage is not adjusted, and a control instruction to move the ingot to the soaking zone is issued to move the ingot to the soaking zone. When the global temperature value of the ingot in the preheating zone is lower than the target temperature value that the ingot needs to reach in the preheating zone, the heating time of the first stage is adjusted, a control instruction for continuing heating is issued, and the ingot continues to be heated in the preheating zone until the global temperature value of the ingot in the preheating zone is the same as the target temperature value that the ingot needs to reach in the preheating zone, and a control instruction for moving the ingot to the soaking zone is issued to move the ingot to the soaking zone; When the global temperature value of the ingot in the preheating zone is greater than the target temperature value that the ingot needs to reach in the preheating zone, the heating time of the first stage is not adjusted, and a control instruction to stop heating is issued to stop heating the ingot. When the global temperature value of the ingot in the preheating zone is reduced to the same as the target temperature value that the ingot needs to reach in the preheating zone, a control instruction to move to the equalizing zone is issued to move the ingot to the equalizing zone.

7. The pusher-type heating furnace ingot dynamic tracking system based on multi-sensor fusion according to claim 6 is characterized in that: The method for obtaining the moving time according to the ingot casting state data includes: The distance the ingot moves from the preheating zone to the soaking zone is obtained, and the moving time of the ingot from the preheating zone to the soaking zone is obtained according to the distance the ingot moves from the preheating zone to the soaking zone and the moving speed of the ingot from the preheating zone to the soaking zone.

8. The pusher-type heating furnace ingot dynamic tracking system based on multi-sensor fusion according to claim 7 is characterized in that: The method for determining whether to adjust the heating time of the second stage and the third stage according to the moving time and the global temperature value of the ingot includes: Obtain n historical ingot heating processes, and obtain the historical movement time of the ingot from the preheating zone to the soaking zone, the historical global temperature value when the ingot arrives at the soaking zone, and the heating time taken for the historical global temperature value when the ingot arrives at the soaking zone to be heated to the same target temperature value as the ingot needs to reach in the soaking zone during the historical ingot heating process, thereby obtaining a global temperature-movement time function and a global temperature-heating time function; Obtain the heating time t2 corresponding to the global temperature value when the ingot reaches the soaking zone based on the global temperature-movement time function and the global temperature-heating time function, and adjust the initial heating time of the ingot in the soaking zone to t2; The ingot is heated in the soaking zone. After the heating time t2, the global temperature value of the ingot in the soaking zone is compared with the target temperature value that the ingot needs to reach in the soaking zone. The corresponding control instruction is issued according to the comparison result, and the second stage of heating of the ingot is completed; The third stage of heating of the ingot is completed using the same method as the second stage of heating.

9. The pusher-type heating furnace ingot dynamic tracking system based on multi-sensor fusion according to claim 8, characterized in that: The method for obtaining the global temperature-movement time function and the global temperature-heating time function comprises: The historical global temperature value when the ingot reaches the soaking zone during the historical ingot heating process is fitted with the historical movement time of the ingot from the preheating zone to the soaking zone to obtain the corresponding fitting function, which is recorded as the global temperature-movement time function; The historical global temperature value when the ingot arrives at the soaking zone is fitted with the heating time used when the historical global temperature value when the ingot arrives at the soaking zone is heated to the same target temperature value as the ingot needs to reach in the soaking zone, and the corresponding fitting function is obtained and recorded as the global temperature-heating time function.

10. The pusher-type heating furnace ingot dynamic tracking system based on multi-sensor fusion according to claim 9, characterized in that: The method for obtaining the heating time corresponding to the global temperature value when the ingot reaches the soaking zone based on the global temperature-movement time function and the global temperature-heating time function includes: The moving time of the ingot from the preheating zone to the equalizing zone is input into the global temperature-moving time function to obtain the global temperature value when the ingot reaches the equalizing zone. The global temperature value when the ingot reaches the equalizing zone is input into the global temperature-heating time function to obtain the heating time corresponding to the global temperature value when the ingot reaches the equalizing zone.

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