Iron-making blast furnace tractor and tank automatic alignment method based on path dynamic adjustment

Abstract

The application discloses an iron-making blast furnace traction vehicle and tank automatic alignment method based on path dynamic adjustment and relates to the field of iron-making blast furnace automatic alignment. The method comprises the following steps: detecting the distance between the vehicle head and the reference point of the tapping hole in real time, reducing the speed of the traction vehicle when the vehicle head is in the preset range of the reference point, and controlling the brake of the traction vehicle when the center point of the No. 1 tank enters the boundary of the shadow area; calculating the offset angle and offset distance of the tank center point and the reference point, and driving the fine adjustment platform below each tank to translate and compensate; measuring the gap distance between the two tanks in real time after each tank is full, controlling the brake of the traction vehicle through the geometric relationship between the adjacent tanks and the gap distance between the two tanks measured in real time after each tank is full, and sequentially completing the iron pouring operation of each tank. The scheme realizes automatic alignment through the cooperative matching of the positions of the traction vehicle and the tank, improves the automation degree and precision of the molten iron pouring in the iron-making process, and reduces the human operation error.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of automatic alignment of iron-making blast furnaces and relates to an automatic alignment method for iron-making blast furnace tugs and tank bodies based on path dynamic adjustment. BACKGROUND

[0002] An iron-making blast furnace is a core device in steel production for generating molten iron through high-temperature reduction reaction of raw materials such as iron ore and coke. In the production process, the molten iron is guided out of the tap hole and stored in a special tank body, and then the tank body is carried by a tug along a predetermined guide rail to complete the transfer of the molten iron.

[0003] Due to the characteristics of high temperature, strong flowability and high corrosiveness of the molten iron, the tank body needs to be accurately aligned with the center of the tap hole to avoid leakage of the molten iron, and the position switching accuracy needs to be strictly controlled for continuous filling of multiple tank bodies to ensure production efficiency and operation safety. Manual alignment not only has low accuracy and slow response, but also has the risk of operation in a high-temperature environment. Therefore, automatic alignment of the tug and the tank body is a key requirement for modern blast furnace production.

[0004] Although the prior art has made many contributions to the automatic alignment of the iron-making blast furnace tug and the tank body, there are still the following problems. First, when the tug carries multiple tank bodies at different speeds on the guide rail, the automatic alignment between the tank body and the tap hole will have errors due to its own inertia when the brake command is issued. The prior art about the automatic alignment of the iron-making blast furnace tug and the tank body only makes mechanical limiting position judgment of the tank body center point and the tap hole to determine the parking position of the tug, relies on single visual recognition or positioning reference without clear boundaries, causing the tug to brake too early or too late, ultimately leading to deviation of the tank body center and the tap hole alignment, leakage of the molten iron during pouring, waste of molten iron and damage to equipment.

[0005] Secondly, the prior art only realizes the alignment of the tank body by moving the whole tug, which is usually large in size and not sensitive enough to subtle position adjustments, making it difficult to achieve high-precision alignment. Meanwhile, repeated attempts to achieve accurate alignment increase unnecessary operation time and reduce overall work efficiency.

[0006] In addition, the tank bodies are connected through special structures, and the sizes of the tank bodies are not completely the same. The prior art realizes overall displacement of the tug by a single power source, which cannot independently adjust each tank body. During the dragging process, multiple tank bodies are prone to offset and stacking, resulting in greater alignment error of the end tank body and affecting the docking accuracy and operation safety. SUMMARY

[0007] In view of the above problems in the background art, the present application provides an automatic alignment method for iron-making blast furnace tugs and tank bodies based on path dynamic adjustment.

[0008] The purpose of the present application can be realized by the following technical solutions: an iron-making blast furnace tractor and tank automatic alignment method based on path dynamic adjustment, comprising: collecting the molten iron liquid level height in the iron-making blast furnace in real time through a liquid level radar, and calculating the molten iron storage volume based on the cross-sectional area of the blast furnace.

[0009] If the molten iron storage volume reaches the preset threshold of the total volume of all tanks supported by the current tractor, the tractor moves along the driving guide rail to the taphole.

[0010] The distance between the tractor head and the center of the taphole is detected in real time, and when the tractor head is within the preset range of the reference point, the tractor slows down, and the directional shading device above the taphole is turned on to form a shadow area on the ground below.

[0011] When the center point of the first tank is detected to enter the boundary of the shadow area, the tractor brake is controlled.

[0012] The offset angle and offset distance between the reference point and the center point of the first tank are measured, and the fine adjustment platform below the tank is driven for pose compensation based on the offset angle and offset distance until the two points are spatially aligned, and the taphole is opened for iron pouring.

[0013] After the full tank signal of the first tank is triggered, the gap distance between the adjacent end faces of the first tank and the second tank is collected in real time, and the tractor is controlled to move the sum of the radius of the first tank, the radius of the second tank, and the gap distance, and then the brake is applied.

[0014] The second tank is taken as the new target tank, and the center point of the tank and the reference point alignment operation and iron pouring are repeated until the last tank is full and the taphole is closed.

[0015] Compared with the prior art, the present application has the following advantages: (1) The present application detects the distance between the tractor head and the reference point of the taphole in real time, and when the tractor head is within the preset range of the reference point, the tractor slows down, and when the center point of the first tank is detected to enter the boundary of the shadow area, the tractor brake is controlled, which significantly reduces the inertial error and improves the parking accuracy.

[0016] (2) The present application calculates the offset angle and offset distance between the center point of the tank and the reference point, drives the fine adjustment platform below each tank to translate and compensate, eliminates the small pose deviation, ensures the accurate pouring of molten iron into the center of the tank, and avoids leakage and local overheating damage.

[0017] (3) The present application measures the gap distance between the two tanks in real time after each tank is full, controls the brake of the tractor through the geometric relationship between the adjacent tanks and the gap distance between the two tanks measured in real time after each tank is full, accurately controls the switching position of multiple tanks, and guarantees the continuous filling efficiency and safety. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed for the description of the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort.

[0019] Figure 1 The method of the present application is implemented in the flowchart.

[0020] Figure 2 The No. 1 tank positioning and tractor braking control flowchart of the present application.

[0021] Figure 3 The tank space alignment fine-tuning compensation control flowchart of the present application.

[0022] Figure 4 The fine-tuning platform structure schematic diagram of the present application.

[0023] The drawings show: 1 - tank bearing table, 2 - platform base frame, 3 - horizontal movement mechanism, 4 - vertical translation mechanism. DETAILED DESCRIPTION

[0024] The technical solutions of the embodiments of the present application will be described clearly and completely in the following with reference to the drawings of the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of the present application.

[0025] Please refer to Figure 1 The present application provides a method for automatically aligning the tractor and tank of an iron-making blast furnace based on dynamic adjustment of the path, which comprises the following steps: S1. Real-time collection of the liquid level height of molten iron in the iron-making blast furnace by means of a liquid level radar, and calculation of the molten iron storage volume based on the cross-sectional area of the blast furnace.

[0026] It should be noted that the internal temperature of the iron-making blast furnace is extremely high, and a large amount of dust, smoke or steam is easily generated on the surface of the molten iron, forming a complex measurement environment. The liquid level radar measures the distance by emitting and receiving electromagnetic waves, and its signal penetration ability is strong, which is not easily affected by high temperature, dust, water vapor and other interference, and can work stably in harsh working conditions, avoiding the problems of failure of other sensors such as laser and ultrasonic wave due to high temperature damage or dust shielding.

[0027] Specifically, the liquid level radar installed on the top of the iron-making blast furnace continuously emits detection signals to the molten iron surface in the furnace and receives reflected signals.

[0028] It should be noted that the liquid level radar is installed at a distance away from the center of the furnace top, and the vertical height from the liquid level of molten iron, to avoid the shielding of the radar signal by the furnace top structure such as the charging port and the observation hole. The installation angle is usually perpendicular to the liquid level of molten iron, to ensure that the transmitted signal is vertically incident to reduce reflection errors.

[0029] The vertical height of the current liquid level of molten iron from the preset reference surface of the furnace top is calculated according to the time difference between the transmitted signal and the received reflected signal.

[0030] More specifically, after the signal is transmitted from the preset reference surface of the furnace top, it is reflected by the liquid level of molten iron and returns to the radar receiving end. The propagation path is the round trip path of the furnace top reference surface, the liquid level of molten iron, and the furnace top reference surface, which is used to calculate the vertical distance from the liquid level of molten iron to the preset reference surface of the furnace top.

[0031] The liquid level height is obtained by subtracting the vertical height from the height of the blast furnace. The cross-sectional area of the blast furnace cavity corresponding to the horizontal position of the liquid level height is obtained from the pre-stored geometric shape data of the blast furnace.

[0032] It should be noted that the internal shape of the iron-making blast furnace is not a regular cylinder or prism, and the cross-sectional area of the internal cavity will change with the height. The cross-sectional area of the blast furnace cavity at different liquid level heights is different. If the pre-stored geometric shape data is not relied on and only a single fixed cross-sectional area is used to calculate the volume, there will be a large error in the volume calculation due to the irregular structure, which cannot reflect the actual storage capacity of molten iron.

[0033] The actual storage volume of molten iron in the current blast furnace is obtained by multiplying the liquid level height and the corresponding cross-sectional area of the blast furnace cavity.

[0034] It should be noted that the calculation result of the storage volume of molten iron is a key standard for determining whether to start the tractor, to ensure that the alignment process is started in time when the storage capacity of molten iron is sufficient to fill the current tank body, to avoid overflow or insufficient iron pouring due to volume judgment error, and to ensure the efficiency and safety of the iron tapping process of the iron-making blast furnace.

[0035] S2. If the storage volume of molten iron reaches a preset threshold of the total volume of all tank bodies carried by the current tractor, the tractor moves along the driving guide rail to the tapping hole.

[0036] It should be noted that the geometric data of each tank body is used as an inherent physical parameter, and the individual volume is pre-recorded into the system before the operation starts. When the tractor is towing multiple tank bodies, the system calls the pre-stored volume data of each tank body and performs summation operation.

[0037] Based on the safety of the molten iron pouring process, such as avoiding overflow and ensuring that the tank body can be fully utilized, the preset threshold is usually a certain proportion of the total volume, which needs to be determined through production verification, such as considering the fluidity of molten iron, the increment of molten iron within the time-consuming alignment operation, etc.

[0038] If the molten iron storage volume does not reach the preset threshold, i.e. the molten iron is insufficient, the tractor moves in advance, and the molten iron may not fill the tank body, resulting in low efficiency of round-trip transportation, increasing energy consumption and time cost.

[0039] If the molten iron volume far exceeds the preset threshold, i.e. the molten iron is excessive, after the tractor moves, the molten iron may overflow when pouring due to the total volume of molten iron exceeding the total volume of the tank body, causing high-temperature safety accidents.

[0040] S3. Real-time detection of the distance between the tractor head and the center of the tapping hole as the reference point, when the head is in the preset range of the reference point, the tractor slows down, and the directional light shielding device above the tapping hole is opened to form a shadow area on the ground below.

[0041] The specific steps for obtaining the distance between the tractor head and the center of the tapping hole as the reference point are as follows: a marker point is set on the ground directly below the center of the tapping hole, and a laser range finder is fixedly installed outside the running rail at the same horizontal plane as the marker point and beyond the maximum width of the tractor.

[0042] It should be noted that the marker point directly below the center of the tapping hole is the reference for distance detection, and the laser range finder and the marker point are at the same horizontal plane, which can ensure that the measured distance is the horizontal distance between the head and the reference point, avoiding measurement errors caused by height difference, and directly obtaining the horizontal distance data along the rail direction. When the tractor runs along the rail, the body width is within the range of the rail, and the laser range finder is installed outside the rail and beyond its maximum width, which can ensure that the laser signal is always unobstructed to the head and receives the reflected signal.

[0043] The laser range finder calculates the distance by emitting and receiving laser signals and has short response time, providing accurate distance data support for tractor deceleration, braking and other actions.

[0044] When the tractor moves along the running rail, the laser range finder emits detection signals to the tractor head in real time and receives reflected signals to obtain real-time distance data between the head and the laser range finder.

[0045] The preset range of the reference point is to ensure that the tractor has enough time to complete the deceleration action after entering the range, laying the foundation for the precise alignment of the center point of the subsequent No. 1 tank body into the shadow area.

[0046] A specific implementation process for the tractor to decelerate when the head is in the preset range of the reference point is as follows: when the actual distance between the head and the reference point is less than or equal to the preset range threshold, it is determined that the head is within the preset range of the reference point, and the system sends a deceleration instruction to the tractor drive system to control the tractor to reduce the running speed, such as from the normal running speed to the low speed, facilitating the subsequent precise alignment.

[0047] The directional light shielding device above the opening taphole forms a shadow area on the ground below, and the specific content is as follows: when the tractor head enters the preset range of the reference point, the tractor deceleration instruction is received, and a light shielding device starting signal is generated.

[0048] The starting signal is sent to the directional light shielding device, and the device is driven to expand the light shielding plate to a preset working position to project a directional light beam vertically downward to the ground.

[0049] It should be noted that the light shielding plate is made of high-temperature-resistant and deformation-resistant materials, such as high-temperature-resistant alloy or quartz glass composite plate, and the size needs to cover the area directly above the center reference point of the taphole, ensuring that the light beam projection range can cover the ground area required for tank body alignment.

[0050] The expansion drive of the light shielding plate uses a servo motor and a gear rack mechanism or a hydraulic push rod, and the driving power can be selected as a 500W servo motor. The displacement from the storage position to the working position ensures that the expansion action is completed synchronously during the deceleration of the tractor.

[0051] The preset working position is the relative position of the light shielding plate and the taphole center, such as the center of the light shielding plate and the center of the taphole being aligned in the horizontal direction, and the light shielding plate plane being parallel to the ground, ensuring that the light beam is projected vertically.

[0052] The directional light beam uses monochromatic laser, and the beam divergence angle ensures that the ground projection area boundary is clear, and the projection direction is calibrated to coincide with the vertical axis of the taphole center reference point.

[0053] Detect whether the projection area boundary formed by the directional light beam on the ground covers the position directly below the taphole center reference point.

[0054] Specifically, an industrial camera is fixedly installed around the taphole, such as beside the light shielding device or above the guide rail, and its lens is vertically directed to the ground projection area, ensuring that the projection area can be completely photographed.

[0055] The collected image is preprocessed, such as grayscale, noise reduction filtering, and enhancement of the projection area boundary and the outline of the reference mark. The edge detection is used to extract the boundary outline of the projection area, determine its coordinate range in the image, identify the center coordinates of the reference mark, and judge whether the center coordinates are located within the coordinate range of the projection area boundary. If the center of the reference mark is completely within the projection area boundary, it is determined to be covered, and if it is partially or completely exceeded, it is determined to be not covered.

[0056] If the projection area does not cover the position directly below the reference point, the pitch angle of the light shielding plate is adjusted until the center of the projection area coincides with the position directly below the reference point.

[0057] Specifically, if the center of the projection area is biased to a certain direction, the light shield is adjusted to the opposite direction. For example, if the center of the projection area is biased to the right, the light shield is adjusted to the left. If the center of the projection area is biased forward, the light shield is adjusted backward. After each adjustment, the projection area is re-detected to cover the position directly below the reference point, and the adjustment is repeated until the center of the projection area coincides with the position directly below the reference point.

[0058] Maintaining the state of projecting the directional light beam forms a clear shadow area of the taphole on the ground.

[0059] The final goal of the tractor is to align the center of the No. 1 ladle with the center reference point of the taphole. If the tractor does not slow down and directly approaches, it is difficult to accurately control the braking time under high-speed driving, which may cause the ladle to pass the reference point or not reach the preset position, resulting in alignment deviation. After slowing down, the tractor moves at low speed, which can greatly reduce the influence of braking inertia, facilitate accurate control of parking according to the signal that the center of the No. 1 ladle enters the shadow area, and ensure the alignment accuracy.

[0060] Synchronously opening the directional light shield device to form the shadow area binds the two steps of approaching the reference point and preparing for alignment, avoiding process interruption caused by delay in starting the light shield device. By slowing down, the light shield device is given preparation time, and the shadow area is used as a spatial anchor point for subsequent alignment, ultimately ensuring accurate alignment of the ladle and the taphole before pouring the molten iron, reducing the risk of molten iron overflow, and improving the reliability of the automatic process.

[0061] S4. When it is detected that the center of the No. 1 ladle enters the boundary of the shadow area, the tractor is controlled to brake.

[0062] Referring to Figure 2 As shown in the figure, a specific implementation process of the tractor braking is as follows: after the directional light shield device forms a stable shadow area, an industrial camera and a laser profiler installed directly above the taphole are enabled.

[0063] It should be noted that the industrial camera can capture images of the shadow area and the top of the ladle in real time, intuitively presenting the spatial positional relationship between the center of the ladle and the boundary of the shadow area.

[0064] The laser profiler can accurately obtain the three-dimensional geometric features of the top of the ladle by emitting laser scanning, such as the circular profile, central depression, or marker point of the top of the ladle. Compared with the industrial camera, which is easily affected by light, such as strong light and dust scattering in the blast furnace environment, the measurement of the laser profiler is not disturbed by light conditions, and the center point coordinates of the top of the ladle can be accurately extracted, making up for the recognition error of the camera in complex environments and ensuring the measurement accuracy of the center point position.

[0065] The shadow area and the image of the top of the tank are photographed in real time by an industrial camera, and the geometric features of the top of the tank are scanned by a laser profiler to identify the position of the center point of the top of the No. 1 tank.

[0066] Specifically, the image photographed by the camera is preprocessed, such as noise reduction and contrast enhancement, to identify the boundary profile of the shadow area and locate the approximate area of the top of the tank in the image. Based on the laser scanning data, the geometric features of the top of the tank are extracted, such as the edge points of the circular top, the center mark or the axis of symmetry, and the preliminary coordinates of the geometric center of the top of the tank are calculated by circle fitting. Combined with the relative position of the top of the tank in the shadow area identified by the industrial camera and the geometric center coordinates calculated by the laser profiler, the error caused by the visual angle deviation is calibrated, and the accurate position of the center point of the top of the No. 1 tank is finally determined.

[0067] According to the spatial relationship between the center point position and the boundary of the shadow area, the minimum distance between the center point position and the boundary of the shadow area is obtained in real time.

[0068] It should be noted that the shadow area is a spatial marker of the center reference point of the tapping hole, and its core function is to define the preset range that the center point of the tank needs to reach. The minimum distance between the center point position and the boundary of the shadow area is the shortest distance from the center point to each boundary of the shadow area, which can most directly reflect whether the center point has approached or entered the boundary.

[0069] Based on the coordinate data in the coordinate system, the straight line distance values from the center point to each discrete point of the boundary of the shadow area are calculated by geometric algorithm, and the minimum value among all the straight line distance values is taken as the minimum distance between the center point position and the boundary of the shadow area.

[0070] If it is detected that the center point position first enters the boundary range of the shadow area, a first-stage deceleration instruction is sent to the brake system of the tractor.

[0071] The moving direction of the center point position is continuously monitored, and when it is determined that the center point continuously enters the shadow area along the guide rail direction and does not cross the center reference point, an emergency stop brake instruction is generated.

[0072] It should be noted that continuously monitoring the moving direction of the center point can determine whether the tank is approaching the reference point stably along the preset driving guide rail direction, so as to avoid positional deviation caused by direction deviation, and the determination that the center point does not cross the center reference point can prevent the tank from moving excessively beyond the target position and ensure that the center point is within a reasonable range in the shadow area. When both conditions are met, the emergency stop brake instruction is generated, which can make the tractor stop smoothly within the maximum braking distance, ensuring that the tank position is within the compensation range of the subsequent fine adjustment platform, and avoiding positional failure caused by stopping too late or too early.

[0073] The emergency stop brake instruction is executed to control the tractor to stop within the maximum braking distance, and a tank position ready signal is triggered.

[0074] It should be noted that the execution of the emergency brake instruction controls the tractor to stop within the maximum braking distance, which can avoid the excessive movement of the tank body due to the inertia of the tractor, so as to exceed the alignment range with the center reference point of the taphole, and ensure that the tank body is stopped at a reasonable position for which the pose compensation can be performed on the subsequent fine adjustment platform.

[0075] When it is detected that the center point of the first tank body enters the boundary of the shadow area, the brake of the tractor is controlled to ensure that the tank body is preliminarily stopped at a reasonable range close to the reference point, so as to avoid exceeding the compensation capability of the subsequent fine adjustment platform due to excessive movement.

[0076] S5. The offset angle and the offset distance between the reference point and the center point of the first tank body are measured, and the fine adjustment platform below the tank body is driven for pose compensation based on the offset angle and the offset distance until the two points are spatially aligned, and the taphole is opened for iron pouring.

[0077] The offset angle is specifically obtained as follows: the projection coordinates of the center reference point of the taphole on the horizontal plane are obtained, and the current horizontal projection coordinates of the center point of the top of the first tank body are continuously obtained through the industrial camera and the laser profiler.

[0078] The driving guide rail extension direction is taken as the X-axis reference direction, and a plane rectangular coordinate system with the reference point projection coordinates as the origin is established.

[0079] The X-axis component and the Y-axis component of the projection coordinates of the center point of the first tank body in the coordinate system are calculated, and the position quadrant of the center point relative to the reference point is determined.

[0080] Specifically, if the Y-axis component is zero and the X-axis component is positive, it is determined that the offset angle is 0°, if the Y-axis component is positive, it is determined that the offset angle is located in the first quadrant, if the X-axis component is negative, it is determined that the offset angle is located in the second quadrant, and if the Y-axis component is negative, it is determined that the offset angle is located in the third or fourth quadrant.

[0081] Based on the determination result of the position quadrant, a preset angle calculation rule is selected to output the absolute value of the offset angle.

[0082] More specifically, the position quadrant determination is the first quadrant, i.e., the X-axis component is positive and the Y-axis component is positive: the absolute value of the offset angle is usually , in which represents the X-axis component, represents the Y-axis component.

[0083] The position quadrant determination is the second quadrant, i.e., the X-axis component is negative and the Y-axis component is positive: the absolute value of the offset angle is usually .

[0084] The position quadrant determination is the third quadrant, i.e., the X-axis component is negative and the Y-axis component is negative: the absolute value of the offset angle is usually .

[0085] The azimuth quadrant is determined to be the fourth quadrant, i.e., the X-axis component is positive and the Y-axis component is negative: the absolute value of the offset angle is usually... .

[0086] The specific steps for obtaining the offset distance are as follows: determine the signs of the X-axis component value and the Y-axis component value, and determine the coordinate quadrant attribute of the center point relative to the origin of the reference point.

[0087] Convert the X-axis and Y-axis component values ​​to their corresponding absolute values.

[0088] Based on the transformed absolute value, calculate the straight-line distance in the planar projection space between the origin of the reference point projection coordinates and the center point projection coordinates.

[0089] See Figure 3 As shown, the specific steps for the fine-tuning platform under the tank to perform pose compensation based on offset angle and offset distance until the two points are spatially aligned are as follows: Determine the translation direction that the fine-tuning platform needs to compensate for based on the orientation quadrant determination result.

[0090] Specifically, if the center point is in the first quadrant, it means the tank is offset relative to the reference point along the positive X-axis and positive Y-axis, and the compensation direction needs to be moved along the negative X-axis and negative Y-axis to offset the offset. If it is in the second quadrant, compensation needs to be made along the positive X-axis and negative Y-axis, and so on.

[0091] The offset distance is decomposed based on the tangent relationship according to the absolute value of the offset angle, and the absolute value of the offset distance is decomposed into the translation component of the X-axis and the translation component of the Y-axis.

[0092] The fine-tuning platform is driven to move along the X-axis by the X-axis component distance, and simultaneously driven to move along the Y-axis by the Y-axis component distance.

[0093] After the displacement is completed, the new offset data between the center point of the tank and the reference point is detected. If the new offset distance does not exceed the preset tolerance threshold, it is determined to be spatially aligned.

[0094] The preset tolerance threshold usually needs to take into account factors such as the positioning accuracy of the equipment, the minimum movement unit of the fine-tuning platform, the safe allowable deviation of molten iron filling, and the geometric accuracy of the tank itself, and is determined through multiple experimental tests.

[0095] When the offset distance of two consecutive verifications is less than the tolerance threshold, a tank alignment completion signal is generated and the position of the fine-tuning platform is locked.

[0096] If the offset distance increases after a single compensation, the compensation process will be terminated immediately, a positioning anomaly alarm will be triggered, and the fine-tuning platform will be reset to its initial position.

[0097] See Figure 4As shown, the fine adjustment platform comprises a platform base frame, a horizontal movement mechanism, a vertical translation mechanism, and a tank body support platform.

[0098] The platform base frame is fixedly installed on the tractor frame base to provide a rigid installation reference surface for the horizontal and vertical translation mechanisms.

[0099] The horizontal movement mechanism is assembled above the platform base frame through an X-axis linear guide rail to drive the tank body to translate along the direction of the running guide rail.

[0100] The vertical translation mechanism is orthogonally assembled on the execution end of the horizontal movement mechanism through a Y-axis linear guide rail to drive the tank body to translate along a direction perpendicular to the direction of the running guide rail.

[0101] Driving the fine adjustment platform to perform pose compensation can eliminate deviations through targeted adjustment, align the center point of the tank body with the reference point in space, and avoid molten iron overflow or incomplete iron pouring caused by inaccurate alignment. After alignment, the iron tapping hole is opened for iron pouring, which can ensure accurate injection of molten iron into the tank body, guarantee production safety, and improve iron pouring efficiency.

[0102] S6. After the full tank signal of the first tank body is triggered, the gap distance between the adjacent end faces of the first tank body and the second tank body is collected in real time, and the tractor is controlled to brake after moving the sum of the radii of the first tank body and the second tank body and the gap distance.

[0103] The specific steps of collecting the gap distance between the adjacent end faces of the first tank body and the second tank body in real time after the full tank signal of the first tank body is triggered are as follows: when the full tank signal of the first tank body is received, an activation instruction is immediately sent to the multiple laser ranging arrays installed on the second tank body at equal intervals along the height direction of the tank body.

[0104] It should be noted that due to the possibility of placing the tank body at an angle, the end face being uneven, etc., a single height of ranging may not reflect the overall gap state, while equal interval distribution can cover the vertical range of the tank body end face. Through verification and processing of multiple measurement values, the influence of local errors on the final result can be effectively reduced, ensuring that the obtained gap distance is closer to the actual situation and providing a reliable basis for accurate calculation of the subsequent tractor movement distance.

[0105] All laser ranging arrays are driven to emit probe beams to the rear end face of the first tank body at the same time, and the real-time distance measurement values returned by each laser ranging are recorded.

[0106] If a certain laser ranging measurement value of the collected distance measurement value exceeds the theoretical range of the physical spacing of the tank body, it is determined as an abnormal value and is excluded.

[0107] It should be noted that the theoretical range of the physical spacing of the tank body is usually determined in combination with the design parameters of the tank body, such as the diameter, length, installation specifications of the tank body, and the normal gap fluctuation range of the two tank bodies when they are adjacent in actual production.

[0108] If the difference between the adjacent laser ranging measurement values exceeds the preset fluctuation threshold, trigger the data anomaly mark, and keep the valid measurement value set passed the check.

[0109] It should be noted that the preset fluctuation threshold is obtained by collecting the measurement values of the adjacent laser ranging array under normal working conditions for multiple times, counting the difference distribution of the adjacent measurement values, and taking the upper limit of the reasonable fluctuation range as the preset fluctuation threshold, so as to distinguish the normal measurement error from the abnormal value jump and ensure that the retained valid measurement values are more reliable.

[0110] When the number of valid measurement values exceeds the preset number threshold, the arithmetic mean of all valid values is calculated, and when the number of valid measurement values is less than the preset number threshold, the median of the current valid values is taken.

[0111] It should be noted that the determination of the preset number threshold is generally related to the total number of the laser ranging array and the requirement for the reliability of the measurement data, and is generally set according to the minimum number that can ensure the representativeness of the data in actual application, for example, in combination with the density of the array distribution, an effective measurement value number lower limit that can cover the main area of the tank end face is set to ensure the reliability of the calculation result.

[0112] When the number of valid measurement values exceeds the preset number threshold, the arithmetic mean is used because the data quantity is sufficient at this time, the average value can comprehensively reflect the overall situation of multiple measurement points, reduce the influence of random error, and be closer to the true gap distance; and when the number of valid measurement values is insufficient, the data representativeness is weak, and the influence of extreme value on the result may be large, and the median can avoid the interference of individual abnormal value and more stably reflect the intermediate level, thereby ensuring the rationality of the gap distance calculation.

[0113] The calculation result is output as the final gap distance between the adjacent end faces of the two tanks.

[0114] The distance moved by the tractor is the sum of the radius of the first tank, the radius of the second tank, and the gap distance between the adjacent end faces of the two tanks, which is exactly the total distance that can make the center point of the second tank reach the position of the center point of the original first tank, i.e., the center reference point of the taphole, so as to realize the rapid preliminary alignment of the second tank and the reference point and lay a foundation for the subsequent fine alignment and iron pouring process.

[0115] S7. Taking the second tank as a new target tank, repeating the alignment operation of the center point of the tank and the reference point and the iron pouring until the last tank is full and the taphole is closed.

[0116] The above embodiments can be realized wholly or partially by software, hardware, firmware or any other combination. When realized by software, the above embodiments can be realized in the form of a computer program product wholly or partially.

[0117] Those skilled in the art can understand that the modules and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized in electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0118] In addition, each functional module in each embodiment of the present application can be integrated in one processing module, or each module can exist physically alone, or two or more modules can be integrated in one module.

[0119] The above is merely specific embodiments of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0120] Finally, the above is only the preferred embodiments of the present application, and is not used to limit the present application, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method for automatic alignment of a blast furnace tractor and ladle based on dynamic path adjustment, characterized in that: The application relates to a molten iron storage volume calculation method and a molten iron storage volume control method. The molten iron liquid level height in a blast furnace is collected in real time through a liquid level radar, and the molten iron storage volume is calculated based on the cross-sectional area of the blast furnace; If the molten iron storage volume reaches a preset threshold of the total volume of all tank bodies supported by the current tractor, the tractor is triggered to move along the driving guide rail to the tapping hole; The distance between the tractor head and the center of the tapping hole is detected in real time, and when the tractor head is in a preset range of the reference point, the tractor is slowed down, and a directional shading device above the tapping hole is opened to form a shadow area on the ground below; When the center point of the first tank body is detected to enter the boundary of the shadow area, the tractor brake is controlled; The offset angle and offset distance between the reference point and the center point of the first tank body are measured, and a fine adjustment platform below the tank body is driven for pose compensation based on the offset angle and offset distance until the two points are spatially aligned, and the tapping hole is opened for iron pouring; After the full-tank signal of the first tank body is triggered, the gap distance between the first tank body and the adjacent end face of the second tank body is collected in real time, and the tractor is controlled to brake after moving by the sum of the radius of the first tank body, the radius of the second tank body and the gap distance; The second tank body is taken as a new target tank body, and the center point of the tank body is aligned with the reference point and the iron pouring is repeated until the last tank body is full and the tapping hole is closed; The specific steps of controlling the tractor brake when the center point of the first tank body is detected to enter the boundary of the shadow area are as follows: After the directional shading device forms a stable shadow area, an industrial camera and a laser profiler are enabled and installed directly above the tapping hole; The industrial camera is used to capture images of the shadow area and the top of the tank body in real time, and the laser profiler is used to scan the geometric features of the top of the tank body to identify the position of the center point of the top of the first tank body; According to the spatial relationship between the center point position and the boundary of the shadow area, the minimum distance between the center point position and the boundary of the shadow area is obtained in real time; If the center point position is detected to enter the boundary of the shadow area for the first time, a first-stage deceleration instruction is sent to the tractor brake system; The moving direction of the center point position is continuously monitored, and when it is determined that the center point position continuously enters the shadow area along the guide rail and does not cross the center reference point, a sudden stop brake instruction of the tractor is generated; The sudden stop brake instruction is executed to control the tractor to stop within the maximum braking distance, and a tank body position ready signal is triggered.

2. The method for automatic alignment of a path-dynamically adjusted iron-making blast furnace tractor with a tank body according to claim 1, characterized in that: The specific calculation process of the molten iron storage volume is as follows: A liquid level radar installed on the top of the blast furnace continuously emits a detection signal to the molten iron liquid surface in the blast furnace and receives a reflected signal; The vertical height of the current molten iron liquid surface from a preset reference surface on the top of the blast furnace is calculated according to the time difference between the emitted signal and the received reflected signal; The liquid level height is obtained by subtracting the vertical height from the height of the blast furnace, and the cross-sectional area of the blast furnace inner cavity corresponding to the horizontal position of the liquid level height is obtained from the pre-stored geometric shape data of the blast furnace inner cavity; The actual storage volume of the molten iron in the blast furnace is obtained by multiplying the liquid level height and the corresponding blast furnace inner cavity cross-sectional area.

3. The method for automatic alignment of a path-dynamically adjusted iron-making blast furnace tractor with a tank body according to claim 1, characterized in that: The specific steps of obtaining the distance between the tractor head and the center of the tapping hole as the reference point are as follows: A mark point is arranged on the ground directly below the center of the tapping hole, and a laser range finder is fixedly installed outside the driving guide rail at the same horizontal plane as the mark point and beyond the maximum width of the tractor; The laser range finder emits detection signals to the tractor head and receives reflected signals in real time when the tractor moves along the running guide rail, and obtains real-time distance data between the tractor head and the laser range finder.

4. The method for automatic alignment of a path-dynamically adjusted iron-making blast furnace tractor with a tank body according to claim 1, characterized in that: The directional light shielding device above the opening hole forms a shadow area on the ground below, and the specific content is as follows: When the tractor head enters the preset range of the reference point, the deceleration instruction of the tractor is received, and a light shielding device starting signal is generated; The starting signal is sent to the directional light shielding device to drive the device to expand the light shielding plate to a preset working position to project a directional light beam to the ground directly below; It is detected whether the boundary of the projection area formed by the directional light beam on the ground covers the position directly below the center reference point of the opening hole; If the projection area does not cover the position directly below the reference point, the pitch angle of the light shielding plate is adjusted until the center of the projection area coincides with the position directly below the reference point; The directional light beam is maintained in the projection state to form a clear shadow area of the opening hole on the ground.

5. The method for automatic alignment of a path-dynamically adjusted iron-making blast furnace tractor with a tank body according to claim 1, characterized in that: The specific steps of obtaining the offset angle are as follows: The projection coordinates of the center reference point of the opening hole on the horizontal plane are obtained, and the current horizontal projection coordinates of the center point of the top of the No. 1 tank body are continuously obtained through an industrial camera and a laser profiler; Taking the extension direction of the running guide rail as the X-axis reference direction, a plane rectangular coordinate system with the projection coordinates of the reference point as the origin is established; The X-axis component and Y-axis component of the projection coordinates of the center point of the No. 1 tank body in the coordinate system are calculated, and the position quadrant of the center point relative to the reference point is judged; Based on the judgment result of the position quadrant, a preset angle calculation rule is selected to output the offset angle absolute value.

6. The method for automatic alignment of a path-dynamically adjusted iron-making blast furnace tractor with a tank body according to claim 5, characterized in that: The specific steps of obtaining the offset distance are as follows: The numerical signs of the X-axis component value and the Y-axis component value are judged to determine the coordinate quadrant attribute of the center point relative to the origin of the reference point; The X-axis component value and the Y-axis component value are converted into corresponding absolute values; Based on the converted absolute values, the plane projection space straight line distance between the projection coordinates of the reference point origin and the center point is calculated.

7. The method for automatic alignment of a path-dynamically adjusted iron-making blast furnace tractor with a tank body according to claim 6, characterized in that: The specific steps of driving the fine adjustment platform below the tank body to compensate the pose until the two points are spatially aligned based on the offset angle and the offset distance are as follows: According to the judgment result of the position quadrant, the translation direction which the fine adjustment platform needs to compensate is determined; Based on the offset angle absolute value, the offset distance is decomposed according to the tangent relationship, and the offset distance absolute value is decomposed into the X-axis translation component and the Y-axis translation component; The fine adjustment platform is driven to move the component distance of the X-axis in the X-axis direction, and simultaneously driven to move the component distance of the Y-axis in the Y-axis direction; After displacement, the new offset data of the center point of the tank body and the reference point are detected, and if the new offset distance does not exceed the preset tolerance threshold, it is determined that the space is aligned; When the offset distances of two consecutive verifications are both less than the tolerance threshold, a tank body alignment completion signal is generated, and the position of the fine adjustment platform is locked; If the offset distance increases after single compensation, the compensation process is immediately terminated, an abnormal positioning alarm is triggered, and the fine adjustment platform is reset to the initial position.

8. The method for automatic alignment of a path-dynamically adjusted iron-making blast furnace tractor with a tank body according to claim 1, characterized in that: The fine adjustment platform comprises: A platform base frame, a horizontal movement mechanism, a vertical translation mechanism, and a tank body support table; The platform base frame is fixedly installed on the tractor frame base; The horizontal movement mechanism is assembled above the platform base frame through the X-axis linear guide rail; The vertical translation mechanism is orthogonally assembled on the execution end of the horizontal translation mechanism through a Y-axis linear guide rail; The tank body bearing table is welded and fixed on the top of the parallel and vertical translation mechanism.

9. The method for automatic alignment of a path-dynamically adjusted iron-making blast furnace tractor with a tank body according to claim 1, characterized in that: After the No. 1 tank body full tank signal is triggered, the gap distance between the No. 1 tank body and the adjacent end face of the No. 2 tank body is collected in real time, and the specific steps are as follows: When receiving the No. 1 tank body full tank signal, an activation instruction is immediately sent to the multiple laser ranging arrays installed on the No. 2 tank body and distributed along the tank body height direction at equal intervals; All the laser ranging arrays are driven to emit probe beams to the rear end face of the No. 1 tank body at the same time, and the real-time distance measurement values returned by each laser ranging are recorded; If a certain laser ranging measurement value exceeds the theoretical range of the physical distance of the tank body, it is determined as an abnormal value and is eliminated; If the difference between adjacent laser ranging measurement values exceeds the preset fluctuation threshold, a data anomaly flag is triggered, and the effective measurement value set that passes the verification is retained; When the number of effective measurement values exceeds the preset number threshold, the arithmetic mean of all effective values is calculated, and when the number of effective measurement values is less than the preset number threshold, the median of the current effective values is taken; The calculation result is output as the final gap distance between the adjacent end faces of the two tank bodies.

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