Stokehole material blending monitoring method and device based on crane positioning weighing and converter inclination angle

Abstract

The invention provides a stokehole material blending monitoring method and device based on travelling crane positioning weighing and a converter inclination angle. The stokehold material blending monitoring method comprises the following steps: acquiring crane positioning information, determining a crane furnace blending preparation completion moment, and acquiring the stable weight of a feeding bag below a crane; acquiring a current inclination angle signal of the converter in real time to determine a converter blending preparation completion moment; weight information of a feeding bag below the current travelling crane is obtained in real time, and the furnace blending starting moment and the actual feeding amount are calculated; driving positioning information is obtained, the furnace blending ending moment is determined according to the driving positioning information, and the furnace blending time is determined; and according to the difference values of the converter blending time, the converter blending starting moment, the crane converter blending preparation completion moment and the converter converter blending preparation completion moment, the factors influencing the converter blending rhythm are determined. According to the stokehole material blending monitoring method based on the travelling crane positioning weighing and the converter inclination angle, the time of each key node in the converter blending process can be accurately monitored, so that factors influencing the converter blending rhythm can be conveniently determined.

Description

Technical Field

[0001] This invention relates to the field of steel metallurgical material feeding technology, and in particular to a method and device for monitoring material feeding in front of the furnace based on crane positioning and weighing and converter tilt angle. Background Technology

[0002] The pre-furnace charging stage in steel production is a crucial step in the steelmaking process. Its core objective is to accurately input molten iron, scrap steel, and other materials into the converter to ensure the accuracy of smelting composition and process parameters. However, traditional charging methods suffer from significant technical bottlenecks in terms of weight statistics, process coordination, and real-time data processing, specifically manifested in the following problems: 1. Large deviation in weight statistics: During the material loading process, if the auxiliary hook is not completely detached from the feeding bag, the data collected by the weighing sensor is easily affected by momentary vibrations, resulting in frequent weight fluctuations. For example, if the auxiliary hook is not fully lowered, the weight of the feeding bag includes residual suspension force, causing the weight after loading to be artificially high or low.

[0003] 2. The determination of the furnace filling stage is ambiguous: The start and end times of material feeding often rely on manual observation or experience-based judgment, lacking objective data support. For example, the converter tilt adjustment and the crane position are not linked, causing the material feeding action to be out of sync with the process stage, easily resulting in premature or delayed material feeding.

[0004] In scenarios involving multiple material additions (such as adding materials from multiple flasks in the same furnace), the lack of an automated tracking mechanism makes it difficult to accurately record the actual amount of material added for each batch, thus affecting the control of smelting composition.

[0005] 3. Insufficient data collaboration: The crane positioning and weighing data are not deeply integrated with converter process parameters (such as tilt angle and temperature), forming "information silos." For example, after the crane enters the furnace loading area, the system cannot automatically trigger weight calculation, requiring manual intervention for calibration, which is inefficient and prone to errors.

[0006] The lack of dynamic linking between the weight before and after material mixing leads to a mismatch between material consumption statistics and process execution records, affecting cost accounting and production optimization.

[0007] 4. System real-time limitations: The lack of real-time monitoring and information feedback mechanisms during material transportation and dispensing leads to delayed management decisions and makes it difficult to adjust production plans in a timely manner. Summary of the Invention

[0008] The main objective of this invention is to provide a method and device for monitoring the charging process in front of the furnace based on crane positioning and weighing and converter tilt angle, which aims to accurately monitor the time of each key node in the charging process in order to determine the factors affecting the charging rhythm.

[0009] To achieve the above objectives, the present invention provides a method for monitoring the charging process in front of the furnace based on crane positioning and weighing and converter tilt angle, comprising the following steps: Obtain the crane positioning information, which includes whether the crane is located in the furnace charging area and the crane's status information when it is stationary. Determine the time when the crane is ready to charge the furnace based on the crane positioning information, and obtain the stable weight of the charging bag under the crane as the weight of the charging bag before the crane charges the furnace. The current converter tilt angle signal is acquired in real time to determine the moment when the converter is ready for commissioning. The weight information of the feeding bag under the current crane is obtained in real time. The start time of furnace charging and the actual amount of material are calculated based on the difference between the current weight of the feeding bag and the weight of the feeding bag before the crane charging. Obtain vehicle location information, determine the end time of furnace exchange based on vehicle location information, and determine furnace exchange time based on the end time and start time of furnace exchange; The factors affecting the furnace exchange rhythm are determined by the difference between the furnace exchange time, the start time of furnace exchange, the time when the crane is ready to exchange furnace, and the time when the converter is ready to exchange furnace.

[0010] Preferably, the specific steps for obtaining the weight information of the charging bag under the current crane in real time and calculating the start time of furnace charging based on the difference between the current weight of the charging bag and the weight of the charging bag before furnace charging include: The weight information of the feeding bag under the crane is obtained in real time. The difference between the current weight of the feeding bag under the crane and the weight of the feeding bag before furnace filling is calculated. When the difference is continuously greater than the preset furnace filling weight difference for more than the fourth preset time and the main hook weight data is greater than 0, the furnace filling is considered to have started. The current time minus the fourth preset time is recorded as the furnace filling start time.

[0011] Preferably, the step of determining the converter preparation completion time by real-time acquisition of the current converter tilt angle signal further includes: Based on the vehicle positioning information, determine whether it is the first time to exchange the converter. When it is the first time to exchange the converter, execute the step of obtaining the current converter tilt angle signal in real time to determine the time when the converter exchange preparation is completed. The system determines whether it is the first time to exchange furnaces by defining a single furnace exchange action as the three actions performed by the train within a preset time period: entering the furnace exchange area, exchanging furnaces, and leaving the furnace exchange area.

[0012] Preferably, when obtaining the stable weight of the feeding bag under the crane, when it is determined from the crane positioning information that the crane is running to the desulfurization or molten iron track area, the data measured by the crane's main hook weight measuring device is used as the basis for calculating the stable weight of the feeding bag.

[0013] Preferably, the stable weight of the feed bag is calculated using the following steps: acquiring the weight measurement data of the crane main hook at five preset time intervals and recording it in a first list; extracting the weight data from the first list within a six preset time interval prior to the current time and placing it in a second list; sorting the weight data in the second list in ascending order; obtaining the median weight in the second list; filtering out data in the window whose difference from the median weight exceeds a preset tonnage; and calculating the average value of the remaining weight data in the second list as the stable weight of the feed bag.

[0014] Preferably, when the converter tilt angle signal satisfies the converter preparation completion signal and continues for a sixth preset time, the current time minus the sixth preset time is recorded as the converter preparation completion time. The signal indicating that the converter is ready for molten iron filling is as follows: when using molten iron filling, the converter tilt angle is 30°-45° and lasts for 5 seconds or more; when using scrap steel filling, the converter tilt angle is 40°-60° and lasts for 5 seconds or more.

[0015] Preferably, the time when the crane is ready to be used for furnace exchange is calculated as follows: when the crane enters the furnace exchange area and is stationary according to the crane positioning information, the current time is the time when the crane is ready to be used for furnace exchange.

[0016] Preferably, the vehicle being in a stationary state is determined in the following way: When the signals for the four directions of the traveling trolley moving forward, moving backward, moving left, and moving right are all negative and continue for a first preset time, it is determined that the traveling trolley is stationary. Alternatively, when the positions of the main vehicle and the auxiliary vehicle are both less than a preset distance at intervals of a second preset time and this interval continues for a third preset time, it is determined that the vehicle is stationary.

[0017] Preferably, after the steps of obtaining vehicle positioning information, determining the furnace filling end time based on the vehicle positioning information, and determining the furnace filling time based on the furnace filling end time and furnace filling start time, the method further includes: Obtain the weight information of the charging bag below after the crane leaves the converter area in order to calculate the weight of the charging bag after it is added to the furnace; The following method is used to calculate the weight of the charging ladle after it is added to the furnace: when the charging ladle is a scrap steel trough, the stable weight obtained by weighing the main hook and auxiliary hook under the crane is taken as the weight of the scrap steel trough after it is added to the furnace; when the charging ladle is a molten iron ladle, the stable weight obtained by weighing the main hook when the crane first arrives at the unhooking area and the auxiliary hook has been completely lowered is taken as the weight of the molten iron ladle after it is added to the furnace.

[0018] This invention also proposes a furnace-front charging control device based on crane positioning and weighing and converter tilt angle, comprising: The crane furnace preparation completion time acquisition module is used to acquire crane positioning information, including whether the crane is located in the furnace preparation area and the crane is stationary. Based on the crane positioning information, the crane furnace preparation completion time is determined, and the stable weight of the feeding bag under the crane is acquired as the weight of the feeding bag before the crane furnace is prepared. The converter preparation completion time acquisition module is used to acquire the current converter tilt angle signal in real time to determine the converter preparation completion time. The furnace start time acquisition module is used to obtain the weight information of the feeding bag under the current crane in real time, and calculate the furnace start time and actual feeding amount based on the difference between the current weight of the feeding bag and the weight of the feeding bag before the furnace is charged. The furnace filling time determination module is used to obtain the crane positioning information, determine the furnace filling end time based on the crane positioning information, and determine the furnace filling time based on the furnace filling end time and furnace filling start time. The furnace running rhythm factor determination module is used to determine the factors affecting the furnace running rhythm based on the difference between the furnace running time, the furnace running start time, the time when the crane furnace running preparation is completed, and the time when the converter furnace running preparation is completed.

[0019] The furnace-front charging monitoring method based on crane positioning and weighing and converter tilt angle proposed in this invention has the following beneficial effects: 1. Automated Judgment of the Entire Furnace Charging Stage: Addressing the pain points of ambiguous start / end times and lack of tracking for multiple charging operations in traditional furnace charging methods, this system integrates crane positioning, converter tilt angle, and weighing data to construct a closed-loop automated judgment system, gradually replacing manual observation. Dual-condition linkage judgment during the preparation phase: The "train positioning (entering the furnace exchange area + stationary state)" automatically records the "train furnace exchange preparation completion time", and at the same time, the tilt angle data is obtained from the converter primary system, and the "converter furnace exchange preparation completion time" is recorded back 5 seconds, thus clarifying the ready point of both parties; Full-chain tracking of multiple material additions: Define "crane entry - furnace addition - leaving the furnace addition area" as a single furnace addition action, and automatically bind "weight before furnace addition - weight after furnace addition" for each batch (the weight after the previous furnace addition is used as the weight before the next furnace addition), so as to realize accurate recording of multiple furnace additions and multiple additions in the same furnace, supporting the traceability of smelting composition; 2. Deep cross-system data integration: By polling the crane positioning and weighing data through timed tasks, process parameters such as tilt angle and temperature are obtained directly from the converter primary system, realizing real-time data interaction between the crane end (positioning and weighing) and the converter end (process parameters), reducing the efficiency loss and error of manual intervention calibration; 3. Automatic location of factors affecting the rhythm: By using the difference between "furnace exchange time", "furnace exchange start time - latest preparation completion time", "crane furnace exchange preparation completion time" and "converter furnace exchange preparation completion time", factors affecting the furnace exchange rhythm are identified. The links that exceed the standard time (such as crane preparation delay, slow converter tilt angle adjustment) are automatically recorded in the report, directly locating the core subject (crane / converter) that affects the production rhythm. Attached Figure Description

[0020] Figure 1 This is a flowchart illustrating the furnace-front material feeding monitoring method based on crane positioning and weighing and converter tilt angle according to the present invention.

[0021] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0022] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0023] It should be noted that in the description of this invention, the terms "lateral," "longitudinal," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used solely for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0024] This invention proposes a method for monitoring the charging process in front of the furnace based on crane positioning and weighing and converter tilt angle.

[0025] Reference Figure 1 In this preferred embodiment, a method for monitoring furnace-front material feeding based on crane positioning and weighing and converter tilt angle includes the following steps: Step S10: Obtain the crane positioning information, which includes whether the crane is located in the furnace charging area and the crane is stationary. Determine the time when the crane is ready to charge the furnace based on the crane positioning information, and obtain the stable weight of the charging bag under the crane as the weight of the charging bag before the crane charges the furnace. Step S20: Obtain the current converter tilt angle signal in real time to determine the time when the converter is ready for commissioning. Step S30: Obtain the weight information of the feeding bag under the current crane in real time, and calculate the start time of furnace charging and the actual feeding amount based on the difference between the current weight of the feeding bag and the weight of the feeding bag before the crane charging. Step S40: Obtain vehicle positioning information, determine the furnace filling end time based on the vehicle positioning information, and determine the furnace filling time based on the furnace filling end time and furnace filling start time; Step S50: Determine the factors affecting the furnace exchange rhythm based on the difference between the furnace exchange time, the furnace exchange start time, the time when the crane furnace exchange preparation is completed, and the time when the converter furnace exchange preparation is completed.

[0026] Specifically, in step S10, the time when the crane is ready to be used for furnace exchange is calculated as follows: when the crane enters the furnace exchange area and is stationary according to the crane positioning information, the current time is the time when the crane is ready to be used for furnace exchange.

[0027] Specifically, in this embodiment, the stationary state of the vehicle is determined in the following way: Option 1: When the signals for the four directions of the traveling trolley moving forward, moving backward, moving left, and moving right are all negative and continue for a first preset time (e.g., 5 seconds), it is determined that the traveling trolley is stationary. Alternatively, in Option 2, when the positions of the main vehicle and the auxiliary vehicle are both less than a preset distance (e.g., 0.5 meters) at intervals of a second preset time (e.g., 1 second) and this continues for a third preset time (e.g., 5 seconds), it is determined that the vehicle is stationary.

[0028] Of the two options, Option 1 is preferred. If the required signals for Option 1 (moving the trolley forward, moving the trolley backward, moving the trolley to the left, and moving the trolley to the right) are not available on site, then Option 2 is selected.

[0029] In step S10, when obtaining the stable weight of the feeding bag under the crane, if it is determined from the crane positioning information that the crane is running to the desulfurization or molten iron track area, the data measured by the crane's main hook weight measuring device shall be used as the basis for calculating the stable weight of the feeding bag.

[0030] The stable weight of the feed bag is calculated using the following steps: Data from the crane main hook weight measuring device is acquired every fifth preset time interval (e.g., 1 second) and recorded in the first list; weight data from the first list within the sixth preset time interval (e.g., 5 seconds) prior to the current time is extracted and placed in the second list; the weight data in the second list are sorted in ascending order; the median weight in the second list is obtained; data in the filter window whose difference from the median weight exceeds a preset tonnage (can be set to 0.5 tons) is filtered; the average value of the remaining weight data in the second list is calculated as the stable weight of the feed bag.

[0031] In step S20, when the inclination signal of the converter meets the converter preparation completion signal and continues for a sixth preset time, the current time minus the sixth preset time is recorded as the converter preparation completion time. The signal indicating that the converter is ready for molten iron filling is as follows: when using molten iron filling, the converter tilt angle is 30°-45° and lasts for 5 seconds or more; when using scrap steel filling, the converter tilt angle is 40°-60° and lasts for 5 seconds or more.

[0032] Step S20 includes the following preceding steps: Step S11: Determine whether it is the first time to exchange furnaces based on the vehicle positioning information. If it is the first time to exchange furnaces, proceed to step S20.

[0033] Specifically, a single furnace exchange operation is defined as the crane performing three actions within a preset time period: entering the furnace exchange area, exchanging materials, and leaving the furnace exchange area. This process determines whether it is the first furnace exchange. If this furnace exchange is not the first time for the material, the weight is taken as the weight after the previous furnace exchange. In step S30, the specific steps for obtaining the weight information of the charging bag under the current crane in real time and calculating the start time of furnace charging based on the difference between the current weight of the charging bag and the weight of the charging bag before furnace charging include: The weight information of the feeding bag under the crane is obtained in real time. The difference between the current weight of the feeding bag under the crane and the weight of the feeding bag before furnace filling is calculated. When the difference is continuously greater than the preset furnace filling weight difference for more than the fourth preset time (e.g., 3 seconds) and the main hook weight data is greater than 0, it is considered that furnace filling has started. The current time minus the fourth preset time is recorded as the furnace filling start time.

[0034] Step S40 is followed by: Step S41: Obtain the weight information of the charging bag below after the crane leaves the converter area, so as to calculate the weight of the charging bag after it is added to the furnace.

[0035] The following method is used to calculate the weight of the charging ladle after it is added to the furnace: when the charging ladle is a scrap steel trough, the stable weight obtained by weighing the main hook and auxiliary hook under the crane is taken as the weight of the scrap steel trough after it is added to the furnace; when the charging ladle is a molten iron ladle, the stable weight obtained by weighing the main hook when the crane first arrives at the unhooking area and the auxiliary hook has been completely lowered is taken as the weight of the molten iron ladle after it is added to the furnace.

[0036] In this embodiment, the furnace loading area refers to the converter mouth. The converter area refers to the converter platform. The unhooking area refers to the area where the crane travels to the desulfurization or molten iron line track, where the auxiliary hook is considered to have completely detached from the molten iron ladle. At this time, the stable weight of the molten iron ladle can be calculated from the weight obtained by the crane's main hook.

[0037] In this embodiment, the above method is used to calculate the weight of the ladle after it is poured into the furnace. After the auxiliary hook is completely detached from the ladle, the weight of the main hook is calculated and updated as the final weight after pouring into the furnace. This solves the weight deviation caused by the residual force of the suspension when the auxiliary hook is not completely detached, and ensures the accuracy of the ladle weight statistics.

[0038] The weight of the raw materials after they are added to the furnace is recorded in the report for the production department to use for subsequent cost statistics.

[0039] In step S50, when determining the factors affecting the furnace exchange rhythm based on the difference between the furnace exchange time, furnace exchange start time, crane furnace exchange preparation completion time, and converter furnace exchange preparation completion time, the crane furnace exchange preparation completion time is compared with the latest preparation completion time set on the system to determine whether the core factor affecting the production rhythm is the crane or the converter.

[0040] The furnace-front charging monitoring method based on crane positioning and weighing and converter tilt angle proposed in this invention has the following beneficial effects: 1. Automated Judgment of the Entire Furnace Charging Stage: Addressing the pain points of ambiguous start / end times and lack of tracking for multiple charging operations in traditional furnace charging methods, this system integrates crane positioning, converter tilt angle, and weighing data to construct a closed-loop automated judgment system, gradually replacing manual observation. Dual-condition linkage judgment during the preparation phase: The "train positioning (entering the furnace exchange area + stationary state)" automatically records the "train furnace exchange preparation completion time", and at the same time, the tilt angle data is obtained from the converter primary system, and the "converter furnace exchange preparation completion time" is recorded back 5 seconds, thus clarifying the ready point of both parties; Full-chain tracking of multiple material additions: Define "crane entry - furnace addition - leaving the furnace addition area" as a single furnace addition action, and automatically bind "weight before furnace addition - weight after furnace addition" for each batch (the weight after the previous furnace addition is used as the weight before the next furnace addition), so as to realize accurate recording of multiple furnace additions and multiple additions in the same furnace, supporting the traceability of smelting composition; 2. Deep cross-system data integration: By polling the crane positioning and weighing data through timed tasks, process parameters such as tilt angle and temperature are obtained directly from the converter primary system, realizing real-time data interaction between the crane end (positioning and weighing) and the converter end (process parameters), reducing the efficiency loss and error of manual intervention calibration; 3. Automatic location of factors affecting the rhythm: By using the difference between "furnace exchange time", "furnace exchange start time - latest preparation completion time", "crane furnace exchange preparation completion time" and "converter furnace exchange preparation completion time", factors affecting the furnace exchange rhythm are identified. The links that exceed the standard time (such as crane preparation delay, slow converter tilt angle adjustment) are automatically recorded in the report, directly locating the core subject (crane / converter) that affects the production rhythm.

[0041] The present invention also proposes a furnace front charging control device based on crane positioning and weighing and converter tilt angle.

[0042] In this preferred embodiment, a furnace-front charging control device based on crane positioning and weighing and converter tilt angle includes: The crane furnace preparation completion time acquisition module is used to acquire crane positioning information, including whether the crane is located in the furnace preparation area and the crane is stationary. Based on the crane positioning information, the crane furnace preparation completion time is determined, and the stable weight of the feeding bag under the crane is acquired as the weight of the feeding bag before the crane furnace is prepared. The converter preparation completion time acquisition module is used to acquire the current converter tilt angle signal in real time to determine the converter preparation completion time. The furnace start time acquisition module is used to obtain the weight information of the feeding bag under the current crane in real time, and calculate the furnace start time and actual feeding amount based on the difference between the current weight of the feeding bag and the weight of the feeding bag before the furnace is charged. The furnace filling time determination module is used to obtain the crane positioning information, determine the furnace filling end time based on the crane positioning information, and determine the furnace filling time based on the furnace filling end time and furnace filling start time. The furnace running rhythm factor determination module is used to determine the factors affecting the furnace running rhythm based on the difference between the furnace running time, the furnace running start time, the time when the crane furnace running preparation is completed, and the time when the converter furnace running preparation is completed.

[0043] The above are merely preferred embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A method for monitoring the material charging at the furnace front based on the positioning of the vehicle in motion and the angle of inclination of the vessel, characterized in that, The method comprises the following steps: acquiring the position information of the trolley, the position information comprising area information of whether the trolley is in the area of the converter and state information of the trolley being in a stationary state, determining the trolley preparation completion time according to the position information of the trolley, and acquiring the stable weight of the charging package under the trolley as the weight of the charging package before the trolley preparation; acquiring the current inclination signal of the converter in real time to determine the converter preparation completion time; acquiring the weight information of the current charging package under the trolley in real time, calculating the converter starting time and the actual charging amount according to the difference between the weight of the current charging package and the weight of the charging package before the trolley preparation; acquiring the position information of the trolley, determining the converter ending time according to the position information of the trolley, and determining the converter time according to the converter ending time and the converter starting time; determining the factors affecting the converter rhythm according to the difference between the converter time, the converter starting time, the trolley preparation completion time and the converter preparation completion time.

2. The ladle-to-consumables monitoring method based on truck positioning weighing and tilting angle of the ladle as claimed in claim 1, wherein, The specific steps of acquiring the weight information of the current charging package under the trolley in real time and calculating the converter starting time according to the difference between the weight of the current charging package and the weight of the charging package before the trolley preparation comprise the following steps: acquiring the weight information of the charging package under the trolley in real time, calculating the difference between the weight of the current charging package under the trolley and the weight of the charging package before the trolley preparation, and when the difference is greater than a preset converter weight difference for more than a fourth preset time and the main hook weight data is greater than 0, considering that the converter starts, recording the current time minus the fourth preset time as the converter starting time.

3. The ladle-to-consumer positioning and ladle tilt angle based monitoring of the material addition at the furnace station as claimed in claim 1, wherein, The step of acquiring the current inclination signal of the converter in real time to determine the converter preparation completion time further comprises the following steps: determining whether it is the first time of converter according to the position information of the trolley, and when it is the first time of converter, performing the step of acquiring the current inclination signal of the converter in real time to determine the converter preparation completion time; determining whether it is the first time of converter by taking the three actions of entering the converter area, converter and leaving the converter area of the trolley within a preset time as a single converter action.

4. The ladle-to-consumer positioning and ladle tilt angle based monitoring of the material addition at the furnace station method as claimed in claim 1, wherein, When acquiring the stable weight of the charging package under the trolley, when it is determined according to the position information of the trolley that the trolley runs to the desulfurization or molten iron track area, the data measured by the main hook weight measuring device of the trolley is taken as the basis for calculating the stable weight of the charging package.

5. The ladle-to-consumables monitoring method based on truck positioning weighing and tilting angle of the ladle as claimed in claim 4, wherein, The stable weight of the charging package is calculated by the following steps: acquiring the data of the main hook weight measuring device of the trolley every fifth preset time and recording it in a first list; taking out the weight data in the first list within the sixth preset time from the current time and putting it into a second list; arranging the weight data in the second list in ascending order; acquiring the median of the weight in the second list; filtering the data in the window whose difference with the median of the weight exceeds a preset tonnage; calculating the average of the remaining weight data in the second list as the stable weight of the charging package.

6. The ladle-to-consumer positioning and ladle tilt angle based monitoring of the material addition at the furnace station method as claimed in claim 1, wherein, When the inclination signal of the converter meets the converter preparation completion signal and lasts for a sixth preset time, recording the current time minus the sixth preset time as the converter preparation completion time. The converter preparation completion signal is that when using molten iron for converter, the inclination of the converter is 30°-45° and lasts for 5 seconds or more; when using scrap steel for converter, the inclination of the converter is 40°-60° and lasts for 5 seconds or more.

7. The ladle-to-consumer positioning and ladle tilt angle based monitoring of the material addition at the furnace station method as claimed in claim 1, wherein, The preparation completion time of the travelling crane is calculated in the following manner: when the travelling crane enters the converter area and is in a stationary state according to the travelling crane positioning information, the current time is the preparation completion time of the travelling crane.

8. The ladle-to-consumables monitoring method based on truck positioning weighing and tilting angle of the ladle as claimed in claim 7, wherein, The stationary state of the travelling crane is determined in the following manner: When the signals of the travelling crane trolley forward movement, the travelling crane trolley backward movement, the travelling crane car left movement and the travelling crane car right movement are all negative and last for a first preset time, it is determined that the travelling crane is in a stationary state. Or, when the positions of the travelling crane trolley and the travelling crane car and the interval between the positions of the travelling crane trolley and the travelling crane car are all less than a preset distance and last for a third preset time, it is determined that the travelling crane is in a stationary state.

9. The ladle-to-consumer positioning and vessel tilt based forehearth monitoring method of any one of claims 1 to 8, wherein, After the step of obtaining the travelling crane positioning information, determining the end time of the converter according to the travelling crane positioning information, and determining the converter time according to the end time of the converter and the start time of the converter, the method further comprises the following steps: Obtaining the weight information of the undercharge package after the travelling crane leaves the converter area to calculate the weight of the undercharge package after the converter. The weight of the undercharge package after the converter is calculated in the following manner: when the undercharge package is a scrap steel tank, the stable weight of the main hook + the auxiliary hook under the travelling crane is taken as the weight of the scrap steel tank after the converter; when the undercharge package is a molten iron ladle, the stable weight of the main hook is taken as the weight of the molten iron ladle after the converter when the travelling crane reaches the unhooking area for the first time and the auxiliary hook has been completely lowered.

10. A control device for charging material at a furnace based on a running position and a tilting angle of a converter, characterized in that, The method comprises: A travelling crane preparation completion time acquisition module for obtaining travelling crane positioning information, the travelling crane positioning information comprising area information of whether the travelling crane is located in the converter area, state information of whether the travelling crane is in a stationary state, determining the preparation completion time of the travelling crane according to the travelling crane positioning information, and obtaining the stable weight of the undercharge package under the travelling crane as the weight of the undercharge package before the converter; A converter preparation completion time acquisition module for obtaining the current inclination signal of the converter in real time to determine the preparation completion time of the converter; A start time acquisition module for obtaining the weight information of the undercharge package under the travelling crane in real time, calculating the start time of the converter and the actual charging amount according to the difference between the current weight of the undercharge package and the weight of the undercharge package before the converter; A converter time determination module for obtaining the travelling crane positioning information, determining the end time of the converter according to the travelling crane positioning information, and determining the converter time according to the end time of the converter and the start time of the converter; A converter rhythm factor determination module for determining the influence of the converter rhythm factor according to the difference between the converter time, the start time of the converter, the preparation completion time of the travelling crane and the preparation completion time of the converter.

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