Automatic alignment method for charging elephant trunk

Abstract

The invention relates to an automatic alignment method for a charging articulated chute. The method comprises the following steps of (1) charging articulated chute driving and detection, (2) detection of the contact position of a steel flow and a molten steel surface, (3) establishment of an automatic alignment model for the charging articulated chute, (4) automatic charging, and (5) system safety early warning and emergency disposal. According to the technical scheme, the contact face of the steel flow and the molten steel surface is recognized through the image, the feeding elephant trunk rotating mechanism is accurately controlled, and automatic and accurate alignment of the converter in the iron alloy feeding process is achieved.

Description

Technical Field

[0001] This invention relates to a positioning method, specifically an automatic positioning method for a feeding chute. Specifically, during the recharging process of ferroalloys in a converter, the ferroalloy chute can achieve automatic rotation and positioning according to the requirements of the iron and steel smelting process, belonging to the field of automation control technology. Background Technology

[0002] The ferroalloy charging chute is a crucial component of steelmaking converter equipment. Its primary function is to transport ferroalloys from the collection hopper to the ladle for alloying. The charging chute is typically designed with a slight incline to ensure smooth flow and accurate addition of the ferroalloy to the ladle. Currently, most steel plants in China use electric push rods, servo motor-driven robotic arms, or rotating devices to adjust the chute's position according to control system commands, but these are limited to two positions: standby and operating. During the tapping process, a layer of slag floats on the surface of the molten steel in the ladle. This slag has strong oxidizing properties. When the ferroalloy enters the ladle through the charging chute, some of it is added to the slag on the molten steel surface, failing to reach the required contact point between the steel stream and the molten steel surface. The ferroalloy added to the slag is oxidized and cannot be absorbed and alloyed by the molten steel, resulting in low ferroalloy yield, high material consumption, and the risk of abnormal steel composition, posing a significant product quality risk to the company. There is currently no specific solution to this problem, either domestically or internationally. This invention will provide a specific automatic alignment method for ferroalloy chutes to address the pressing issue at present.

[0003] Through retrieval and analysis of relevant literature, the following findings were made:

[0004] Patent 1: CN201920277415.1, a steelmaking charging chute, the key technical points of which include a chute body, with an upper mounting ring and a lower mounting ring respectively provided at the inlet and outlet ends of the chute body, and a plurality of wear-resistant strips distributed along the circumference of the inner wall of the chute body connected between the upper and lower mounting rings, with gaps between adjacent wear-resistant strips. This utility model can reduce the impact force of steelmaking alloys on the inner wall of the chute body and extend the service life of the chute body. This invention differs from the present invention. Therefore, the technical problem solved by "a steelmaking charging chute" and the technical solution adopted by this application, as well as the technical effect achieved, are different. Therefore, there is an urgent need for a new solution to this technical problem. Summary of the Invention

[0005] This invention addresses the technical problems existing in the prior art by providing an automatic alignment method for the charging chute. This technical solution uses image recognition to precisely control the contact surface between the steel flow and the molten steel surface and the rotating mechanism of the charging chute, thereby achieving automatic and accurate alignment of the converter during the process of adding ferroalloys.

[0006] To achieve the above objectives, the technical solution of the present invention is as follows: an automatic alignment method for a feeding chute, the method comprising the following steps:

[0007] Step 1: Feed chute drive device and testing.

[0008] Specifically as follows:

[0009] Step 11: The feeding chute rotation mechanism is driven by an electro-hydraulic actuator. The telescopic cylinder has a built-in displacement sensor, which outputs a 4-20mA current signal for piston rod position feedback within the cylinder. The electro-hydraulic converter is controlled by an input 4-20mA current signal. When the input current signal is received, the cylinder piston adjusts the hydraulic pressure according to the input current value, thus achieving precise control of the telescopic cylinder. A fulcrum is added to the feeding chute body, with one end connected to the telescopic cylinder. The rotation of the feeding chute is achieved through the movement of the telescopic cylinder.

[0010] Step 12: Encoder detection. Install an absolute angle encoder on the rotating chute. The angle detection is 'a'.

[0011] Step 13: Install a limit switch one in the standby position of the rotary chute mechanism. When the rotary chute is in the standby position, limit switch one receives a signal, and simultaneously, the limit switch signal calibrates the absolute angle encoder to zero position. Install a limit switch two at the maximum allowable rotation position of the rotary chute to prevent collisions or misalignment between the chute and the converter feed port. When the rotary chute rotates to the maximum allowable position, the control system will immediately stop the chute from moving further.

[0012] Step 2: Detect the contact point between the molten steel and the molten steel surface.

[0013] Specifically as follows:

[0014] Step 21: Install and fix the infrared camera. Install the infrared camera according to the contact position between the steel flow and the molten steel surface that needs to be detected, and ensure that it is stably fixed. Adjust the camera lens to ensure that it can clearly capture the image of the contact position between the steel flow and the molten steel surface.

[0015] Step 22: Image detection location definition, based on the attached... Figure 2 To explain, during normal tapping in a converter, the contact surface between the steel stream and the molten steel surface lies on the central axis of the molten steel surface. Figure 1As shown, the location of image detection is defined based on the contact area between the molten steel and the molten steel surface and the molten steel surface in the ladle. Location 1 is defined when the image detection identifies the contact area between the molten steel and the molten steel surface in region A of the ladle; location 2 is defined when the image detection identifies the contact area in region B of the ladle; location 3 is defined when the image detection identifies the contact area in region C of the ladle; location 4 is defined when the image detection identifies the contact area in region D of the ladle; location 5 is defined when the image detection identifies the contact area in region E of the ladle; and location 6 is defined when the image detection identifies the contact area in region F of the ladle.

[0016] Step 3: Establishment of Automatic Alignment Model for Feeding Chute

[0017] Specifically as follows:

[0018] Step 31: Initial alignment, manually rotate the feeding chute to the preset starting position, which is the standby position described in the first part of this invention. At this time, the standby position limit switch receives a signal.

[0019] Step 32: Gradually align and manually rotate the feeding chute outlet until it is above the contact area between the molten steel and the slurry surface. Based on image detection, identify the position of the contact area between the molten steel and the slurry surface, and establish an automatic alignment model for the feeding chute. (See attached...) Figure 4 Please provide an explanation.

[0020] When image detection identifies the contact surface between the molten steel and the steel surface in region A of the ladle (defined as position 1), the on-site operation of the feeding chute control mechanism is initiated, and alloy addition is performed. When the alloy is accurately added to position 1 via the feeding chute, the rotation angle of the feeding chute is recorded as 26°, and the input current control signal of the electro-hydraulic converter is 12.1mA. When image detection identifies the contact surface between the molten steel and the steel surface in region B of the ladle (defined as position 2), the on-site operation of the feeding chute control mechanism is initiated, and alloy addition is performed. When the alloy is accurately added to position 2 via the feeding chute, the rotation angle of the feeding chute is recorded as 26°, and the input current control signal of the electro-hydraulic converter is 12.1mA. The rotation angle is 32°, and the input current control signal of the electro-hydraulic converter is 12.8mA. When the image detection identifies the contact surface between the steel flow and the molten steel surface in region C of the ladle (defined position 3), the on-site operation of the feeding chute control mechanism is initiated, and the alloy addition operation is performed. When the alloy is accurately added to position 3 through the feeding chute, the rotation angle of the feeding chute is 44°, and the input current control signal of the electro-hydraulic converter is 13.7mA. When the image detection identifies the contact surface between the steel flow and the molten steel surface in region D of the ladle (defined position 4), the on-site operation of the feeding chute control mechanism is initiated, and the alloy addition operation is performed. When the alloy is accurately added to position 4 through the feeding chute, the rotation angle of the feeding chute is 52°, and the input current control signal of the electro-hydraulic converter is 14.6mA. When the image detection identifies that the contact surface between the steel flow and the molten steel surface is in region E of the ladle, i.e., the defined position 5, the feeding chute control mechanism is operated on-site to perform the alloy addition operation. When the alloy is accurately added to position 5 through the feeding chute, the rotation angle of the feeding chute is 65°, and the input current control signal of the electro-hydraulic converter is 15.9mA. When the image detection identifies that the contact surface between the steel flow and the molten steel surface is in region F of the ladle, i.e., the defined position 5, the feeding chute control mechanism is operated on-site to perform the alloy addition operation. Position 6 is defined as the location where the feeding chute control mechanism is operated on-site, and alloy addition is performed. When the alloy is accurately added to position 6 through the feeding chute, the rotation angle of the feeding chute is 86°, and the input current control signal of the electro-hydraulic converter is 17.1mA. When the image detection identifies that the contact surface between the steel flow and the molten steel surface is in region G of the ladle, i.e., position 7, the feeding chute control mechanism is operated on-site, and alloy addition is performed. When the alloy is accurately added to position 7 through the feeding chute, the rotation angle of the feeding chute is 76°, and the input current control signal of the electro-hydraulic converter is 18.4mA.

[0021] Step 33: Automation and Calibration. Based on the correspondence obtained in Step 2, write scripts and control logic programs to automatically control the rotation angle of the feeding chute according to the contact area between the steel flow and the molten steel surface captured by the image.

[0022] Step 4: Automatic feeding method, according to the attached... Figure 3The specific explanation is as follows: After receiving the converter's "Steel tapping start" signal, the image recognition camera starts working. Once the system detects that the feeding chute is in the standby position, the image recognition system determines the initial position of the contact surface between the steel flow and the molten steel surface and transmits the determination signal to the PLC system. The PLC system outputs a 4-20mA signal to control the electro-hydraulic converter based on the different position signals, driving the hydraulic cylinder to move. During this process, the PLC's output signal continuously adjusts according to the image recognition position determination. The hydraulic cylinder drives the feeding chute to swing and rotate, and the rotary encoder detects the swing position of the feeding chute in real time. When the operator clicks "One-click feeding" on the primary operation screen, the hopper gate opens, and the feeding operation begins. After feeding is completed, the hopper gate automatically closes. When the system receives the converter's "Steel tapping end" signal, the PLC system outputs a 4-20mA signal to control the electro-hydraulic converter, the hydraulic cylinder moves, the chute swings back to the standby position, the camera stops working, and the feeding operation ends.

[0023] Step 5: System Security Early Warning and Emergency Response

[0024] Specifically as follows:

[0025] Any model or automatic control system can malfunction due to external mechanisms or PLC crashes. This invention provides targeted system safety alarms and emergency response methods. An automatic alignment model warning screen for the charging chute is added to the primary HMI interface. When the image detects the contact area between the molten steel and the steel surface, and the charging chute is not following the program or has a large control deviation, the automatic alignment model warning screen will issue a warning, reminding the operator to manually add emergency material at the furnace control box to prevent spillage.

[0026] Compared to existing technologies, this invention offers the following advantages: The automatic alignment method for the charging chute described herein utilizes image recognition to precisely control the contact surface between the steel flow and the molten steel surface, along with the rotating mechanism of the charging chute, achieving automatic and accurate alignment of the converter during the ferroalloy addition process. This prevents the ferroalloy from being added to the steel slag and oxidized by the highly oxidizing slag. It also improves the molten steel alloy yield, significantly reducing material consumption and production quality risks for enterprises. The implementation of this method fills a current industry gap and is more advanced than methods currently used in industrial sectors. This method can be applied in multiple fields, has a wide range of applications, and possesses excellent development prospects. Attached Figure Description

[0027] Figure 1 Image detection location determination diagram;

[0028] Figure 2 Image detection and PLC control diagram;

[0029] Figure 3 This is a flowchart of the automatic feeding process;

[0030] Figure 4 This is a diagram illustrating the implementation of image detection and PLC control. Detailed Implementation

[0031] To enhance understanding of the present invention, the embodiments will be described in detail below with reference to the accompanying drawings.

[0032] Example 1: See Figures 1-4 An automatic alignment method for a feeding chute, the method comprising the following steps:

[0033] Step 1: Feed chute drive device and testing.

[0034] Specifically as follows:

[0035] Step 11: The feeding chute rotation mechanism is driven by an electro-hydraulic actuator. The telescopic cylinder has a built-in displacement sensor, which outputs a 4-20mA current signal for piston rod position feedback within the cylinder. The electro-hydraulic converter is controlled by an input 4-20mA current signal. When the input current signal is received, the cylinder piston adjusts the hydraulic pressure according to the input current value, thus achieving precise control of the telescopic cylinder. A fulcrum is added to the feeding chute body, with one end connected to the telescopic cylinder. The rotation of the feeding chute is achieved through the movement of the telescopic cylinder.

[0036] Step 12: Encoder detection. Install an absolute angle encoder on the rotating chute. The angle detection is 'a'.

[0037] Step 13: Install a limit switch one in the standby position of the rotary chute mechanism. When the rotary chute is in the standby position, limit switch one receives a signal, and simultaneously, the limit switch signal calibrates the absolute angle encoder to zero position. Install a limit switch two at the maximum allowable rotation position of the rotary chute to prevent collisions or misalignment between the chute and the converter feed port. When the rotary chute rotates to the maximum allowable position, the control system will immediately stop the chute from moving further.

[0038] Step 2: Detect the contact point between the molten steel and the molten steel surface.

[0039] Specifically as follows:

[0040] Step 21: Install and fix the infrared camera. Install the infrared camera according to the contact position between the steel flow and the molten steel surface that needs to be detected, and ensure that it is stably fixed. Adjust the camera lens to ensure that it can clearly capture the image of the contact position between the steel flow and the molten steel surface.

[0041] Step 22: Image detection location definition, based on the attached... Figure 2 To explain, during normal tapping in a converter, the contact surface between the steel stream and the molten steel surface lies on the central axis of the molten steel surface. Figure 1As shown, the location of image detection is defined based on the contact area between the molten steel and the molten steel surface and the molten steel surface in the ladle. Location 1 is defined when the image detection identifies the contact area between the molten steel and the molten steel surface in region A of the ladle; location 2 is defined when the image detection identifies the contact area in region B of the ladle; location 3 is defined when the image detection identifies the contact area in region C of the ladle; location 4 is defined when the image detection identifies the contact area in region D of the ladle; location 5 is defined when the image detection identifies the contact area in region E of the ladle; and location 6 is defined when the image detection identifies the contact area in region F of the ladle.

[0042] Step 3: Establishment of automatic alignment model for the feeding chute.

[0043] Specifically as follows:

[0044] Step 31: Initial alignment, manually rotate the feeding chute to the preset starting position, which is the standby position described in the first part of this invention. At this time, the standby position limit switch receives a signal.

[0045] Step 32: Gradually align and manually rotate the feeding chute outlet until it is above the contact area between the molten steel and the slurry surface. Based on image detection, identify the position of the contact area between the molten steel and the slurry surface, and establish an automatic alignment model for the feeding chute. (See attached...) Figure 4 Please provide an explanation.

[0046] When image detection identifies the contact surface between the molten steel and the steel surface in region A of the ladle (defined as position 1), the on-site operation of the feeding chute control mechanism is initiated, and alloy addition is performed. When the alloy is accurately added to position 1 via the feeding chute, the rotation angle of the feeding chute is recorded as 26°, and the input current control signal of the electro-hydraulic converter is 12.1mA. When image detection identifies the contact surface between the molten steel and the steel surface in region B of the ladle (defined as position 2), the on-site operation of the feeding chute control mechanism is initiated, and alloy addition is performed. When the alloy is accurately added to position 2 via the feeding chute, the rotation angle of the feeding chute is recorded as 26°, and the input current control signal of the electro-hydraulic converter is 12.1mA. The rotation angle is 32°, and the input current control signal of the electro-hydraulic converter is 12.8mA. When the image detection identifies the contact surface between the steel flow and the molten steel surface in region C of the ladle (defined position 3), the on-site operation of the feeding chute control mechanism is initiated, and the alloy addition operation is performed. When the alloy is accurately added to position 3 through the feeding chute, the rotation angle of the feeding chute is 44°, and the input current control signal of the electro-hydraulic converter is 13.7mA. When the image detection identifies the contact surface between the steel flow and the molten steel surface in region D of the ladle (defined position 4), the on-site operation of the feeding chute control mechanism is initiated, and the alloy addition operation is performed. When the alloy is accurately added to position 4 through the feeding chute, the rotation angle of the feeding chute is 52°, and the input current control signal of the electro-hydraulic converter is 14.6mA. When the image detection identifies that the contact surface between the steel flow and the molten steel surface is in region E of the ladle, i.e., the defined position 5, the feeding chute control mechanism is operated on-site to perform the alloy addition operation. When the alloy is accurately added to position 5 through the feeding chute, the rotation angle of the feeding chute is 65°, and the input current control signal of the electro-hydraulic converter is 15.9mA. When the image detection identifies that the contact surface between the steel flow and the molten steel surface is in region F of the ladle, i.e., the defined position 5, the feeding chute control mechanism is operated on-site to perform the alloy addition operation. Position 6 is defined as the location where the feeding chute control mechanism is operated on-site, and alloy addition is performed. When the alloy is accurately added to position 6 through the feeding chute, the rotation angle of the feeding chute is 86°, and the input current control signal of the electro-hydraulic converter is 17.1mA. When the image detection identifies that the contact surface between the steel flow and the molten steel surface is in region G of the ladle, i.e., position 7, the feeding chute control mechanism is operated on-site, and alloy addition is performed. When the alloy is accurately added to position 7 through the feeding chute, the rotation angle of the feeding chute is 76°, and the input current control signal of the electro-hydraulic converter is 18.4mA.

[0047] Step 33: Automation and Calibration. Based on the correspondence obtained in Step 2, write scripts and control logic programs to automatically control the rotation angle of the feeding chute according to the contact area between the steel flow and the molten steel surface captured by the image.

[0048] Step 4: Automatic feeding method, according to the attached... Figure 3The specific explanation is as follows: After receiving the converter's "Steel tapping start" signal, the image recognition camera starts working. Once the system detects that the feeding chute is in the standby position, the image recognition system determines the initial position of the contact surface between the steel flow and the molten steel surface and transmits the determination signal to the PLC system. The PLC system outputs a 4-20mA signal to control the electro-hydraulic converter based on the different position signals, driving the hydraulic cylinder to move. During this process, the PLC's output signal continuously adjusts according to the image recognition position determination. The hydraulic cylinder drives the feeding chute to swing and rotate, and the rotary encoder detects the swing position of the feeding chute in real time. When the operator clicks "One-click feeding" on the primary operation screen, the hopper gate opens, and the feeding operation begins. After feeding is completed, the hopper gate automatically closes. When the system receives the converter's "Steel tapping end" signal, the PLC system outputs a 4-20mA signal to control the electro-hydraulic converter, the hydraulic cylinder moves, the chute swings back to the standby position, the camera stops working, and the feeding operation ends.

[0049] Step 5: System Security Early Warning and Emergency Response

[0050] Specifically as follows:

[0051] Any model or automatic control system can malfunction due to external mechanisms or PLC crashes. This invention provides targeted system safety alarms and emergency response methods. An automatic alignment model warning screen for the charging chute is added to the primary HMI interface. When the image detects the contact area between the molten steel and the steel surface, and the charging chute is not following the program or has a large control deviation, the automatic alignment model warning screen will issue a warning, reminding the operator to manually add emergency material at the furnace control box to prevent spillage.

[0052] It should be noted that the above embodiments are not intended to limit the scope of protection of the present invention. Equivalent transformations or substitutions made based on the above technical solutions all fall within the scope of protection of the claims of the present invention.

Claims

1. An automatic alignment method for a feeding chute, characterized in that, The method includes the following steps: Step 1: Feed chute drive device and testing. Step 2: Detect the contact point between the molten steel and the molten steel surface. Step 3: Establishment of automatic alignment model for the feeding chute. Step 4: Automatic feeding method Step 5: System security early warning and emergency response.

2. The automatic alignment method for the feeding chute according to claim 1, characterized in that, Step 1: Feed chute drive device and testing, details are as follows: Step 11: The feeding chute rotation mechanism is driven by an electro-hydraulic actuator. The telescopic cylinder has a built-in displacement sensor, which outputs a 4-20mA current signal for piston rod position feedback within the cylinder. The electro-hydraulic converter is controlled by an input 4-20mA current signal. When the input current signal is received, the piston adjusts the hydraulic pressure within the cylinder according to the current value, thus achieving precise control of the telescopic cylinder. A fulcrum is added to the feeding chute body, with one end connected to the telescopic cylinder. The rotation of the feeding chute is achieved through the movement of the telescopic cylinder. Step 12: Encoder detection. Install an absolute angle encoder on the rotating chute. The angle detection is 'a'. Step 13: Install a limit switch one in the standby position of the rotary chute mechanism. When the rotary chute is in the standby position, limit switch one receives a signal. At the same time, the limit switch signal calibrates the absolute angle encoder to zero position. Install a limit switch two at the maximum allowable rotation position of the rotary chute to prevent collision or misalignment between the discharge chute and the converter feed port. When the rotary chute rotates to the maximum allowable position, the control system will immediately stop the discharge chute from moving further.

3. The automatic alignment method for the feeding chute according to claim 2, characterized in that, Step 2: Detect the contact position between the molten steel and the molten steel surface, as detailed below: Step 21: Install and secure the infrared camera. Based on the required contact point between the molten steel and the molten steel surface, install the infrared camera and ensure it is stably fixed. Adjust the camera lens to ensure it can clearly capture the image of the contact point between the molten steel and the molten steel surface. Step 22: Image detection position definition. Based on the fact that during normal steel tapping in the converter, the contact surface between the steel stream and the molten steel surface lies on the central axis of the molten steel surface, the image detection position is defined according to the contact surface area and the molten steel surface in the ladle. Position 1 is defined when the image detection identifies the contact surface between the steel stream and the molten steel surface in area A of the ladle; position 2 is defined when the image detection identifies the contact surface in area B of the ladle; position 3 is defined when the image detection identifies the contact surface in area C of the ladle; position 4 is defined when the image detection identifies the contact surface in area D of the ladle; position 5 is defined when the image detection identifies the contact surface in area E of the ladle; and position 6 is defined when the image detection identifies the contact surface in area F of the ladle.

4. The automatic alignment method for the feeding chute according to claim 3, characterized in that, Step 3: Establish the automatic alignment model for the feeding chute, as detailed below: Step 31: Initial alignment, manually rotate the feeding chute to the preset starting position, i.e., the standby position. At this time, the standby position limit switch will receive a signal. Step 32: Gradually align and manually rotate the feeding chute outlet until it is above the contact area between the molten steel and the slurry surface. Based on image detection, identify the position of the contact area between the molten steel and the slurry surface, and establish an automatic alignment model for the feeding chute. When image detection identifies the contact surface between the molten steel and the slurry surface in region A of the ladle (defined as position 1), the on-site operation of the feeding chute control mechanism initiates the alloy addition operation. When the alloy is accurately added to position 1 via the feeding chute, the rotation angle of the feeding chute is recorded as 26°, and the input current control signal of the electro-hydraulic converter is 12.1mA. When image detection identifies the contact surface between the molten steel and the slurry surface in region B of the ladle (defined as position 2), the on-site operation of the feeding chute control mechanism initiates the alloy addition operation. When the alloy is accurately added to position 2 via the feeding chute, the rotation angle of the feeding chute is recorded as 32°, and the input current control signal of the electro-hydraulic converter is 12.8mA. When image detection identifies the contact surface between the molten steel and the slurry surface in region C of the ladle (defined as position 3), the on-site operation of the feeding chute control mechanism initiates the alloy addition operation. When the alloy is accurately added to position 3 through the feeding chute, the rotation angle of the feeding chute is 44°, and the input current control signal of the electro-hydraulic converter is 13.7mA. When the image detection identifies that the contact surface between the steel flow and the molten steel surface is in region D of the ladle, i.e., the defined position 4, the feeding chute control mechanism is operated on-site to add the alloy. When the alloy is accurately added to position 4 through the feeding chute, the rotation angle of the feeding chute is 52°, and the input current control signal of the electro-hydraulic converter is 14.6mA. When the image detection identifies that the contact surface between the steel flow and the molten steel surface is in region E of the ladle, i.e., the defined position 5, the feeding chute control mechanism is operated on-site to add the alloy. When the alloy is accurately added to position 5 through the feeding chute, the rotation angle of the feeding chute is 65°, and the input current control signal of the electro-hydraulic converter is 15.9mA. When the image detection identifies the contact surface between the molten steel and the steel surface in region F of the ladle (defined position 6), the on-site operation of the feeding chute control mechanism is initiated, and alloying operations are performed. When the alloy is accurately added to position 6 through the feeding chute, the rotation angle of the feeding chute is 86°, and the input current control signal of the electro-hydraulic converter is 17.1mA. When the image detection identifies the contact surface between the molten steel and the steel surface in region G of the ladle (defined position 7), the on-site operation of the feeding chute control mechanism is initiated, and alloying operations are performed. When the alloy is accurately added to position 7 through the feeding chute, the rotation angle of the feeding chute is 76°, and the input current control signal of the electro-hydraulic converter is 18.4mA. Step 33: Automation and Calibration. Based on the correspondence obtained in Step 32, write scripts and control logic programs to automatically control the rotation angle of the feeding chute according to the contact area between the steel flow and the molten steel surface captured by the image.

5. The automatic alignment method for the feeding chute according to claim 4, characterized in that, Step 4: Automatic feeding method, as follows: After receiving the converter's "Steel tapping start" signal, the image recognition camera starts working. After the system detects that the feeding pipe is in the standby position, the image recognition system determines the initial position of the contact surface between the steel flow and the molten steel surface and transmits the determination signal to the PLC system. The PLC system outputs a 4-20mA signal to control the electro-hydraulic converter according to different position signals, driving the hydraulic cylinder to move. During this period, the PLC output signal is continuously adjusted according to the image recognition position determination. The hydraulic cylinder drives the feeding chute to swing and rotate. The rotary encoder detects the swing position of the feeding pipe in real time. When the operator clicks "One-click feeding" on the primary operation screen, the hopper gate opens to start the feeding operation. After feeding is completed, the hopper gate automatically closes. When the system receives the converter's "Steel tapping end" signal, the PLC system outputs a 4-20mA signal to control the electro-hydraulic converter, the hydraulic cylinder moves, the chute swings back to the standby position, the camera stops working, and the feeding ends.

6. The automatic alignment method for the feeding chute according to claim 2, characterized in that, Step 5: System security early warning and emergency response, as detailed below: Any model or automatic control system can malfunction due to external mechanisms or PLC crashes. Targeted system safety alarms and emergency response methods are needed. An automatic alignment model warning screen for the feeding chute is added to the primary HMI interface. When the image detects the contact area between the steel flow and the molten steel surface, and the feeding chute is not following the program or has a large control deviation, the automatic alignment model warning screen will issue a warning, reminding the operator to manually add emergency material at the furnace control box to prevent spillage.

Images