Converter automatic slagging control method and system suitable for multi-process scenarios

Abstract

The present application belongs to the technical field of converter steelmaking, and discloses a converter automatic slagging-off control method and system suitable for multiple process scenarios, which comprises six steps of process parameter presetting and initialization, slagging-off preparation and slag pot positioning, multi-dimensional real-time detection, closed-loop linkage control, slagging-off stopping and resetting, data storage and optimization; the system comprises a converter unit, a detection unit, a slag pot conveying unit, a control unit and a safety protection unit. The present application combines the core parameters of the steelmaking process (slag viscosity, temperature, steel grade, slagging process), realizes automatic adaptation of multiple process scenarios such as slag retention / non-slag retention, adopts multi-dimensional detection to form closed-loop linkage control, improves the slagging-off precision and anti-interference ability, avoids the safety risks caused by manual operation, simultaneously realizes the coordinated connection with the subsequent smelting process of the converter, and improves the overall efficiency of the converter smelting.

Description

Technical Field

[0001] This invention belongs to the field of converter steelmaking technology, specifically relating to an automatic slag dumping control method and system for converters that is adaptable to multiple process scenarios. Background Technology

[0002] In the converter smelting process, after the steel is tapped, the slag (or part of the slag, in the case of slag retention process) generated in the furnace needs to be dumped into the slag pot and transported by slag pot truck to the slag treatment center for centralized treatment. This is a key subsequent process in converter smelting, which directly affects smelting efficiency, equipment safety and subsequent process connection.

[0003] Currently, there are two main methods for slag dumping in converters: one is traditional manual operation, which relies on the operator's experience to control the converter's tilting angle, speed, and slag car position. This not only requires high technical skills from the operator, but also poses safety risks due to the smoke and dust generated during the dumping process. It also suffers from problems such as incomplete dumping, large deviations in the amount of slag left, and slag car misalignment. The other is existing automatic slag dumping technology, which mainly uses image recognition to detect slag flow and weighing to detect slag quantity, achieving linkage control between converter tilting and slag car movement. However, this technology does not fully integrate the core parameters of the steelmaking process and is not adaptable to the differences in slag viscosity and temperature under different steel grades (such as carbon steel and alloy steel) and slag-making processes (such as lime slag-making and dolomite slag-making). Furthermore, it does not consider the needs of the entire converter smelting process, which can easily lead to a disconnect between the slag dumping rhythm and the subsequent iron and scrap steel charging processes, or slag dumping out of control due to changes in slag flow characteristics.

[0004] Furthermore, existing automatic slag removal technologies rely on relatively simple detection indicators and have weak anti-interference capabilities. When issues such as slag dust obstruction or slag splashing occur, detection accuracy can easily decrease, leading to control command deviations and affecting slag removal efficiency and equipment safety. Therefore, developing an automatic slag removal technology for converters that can adapt to multiple process scenarios, integrate closed-loop control of process parameters, and has strong anti-interference capabilities is crucial to addressing the shortcomings of existing technologies and improving the automation level of converter smelting. Summary of the Invention

[0005] In view of this, the purpose of this invention is to solve the above problems and provide an automatic slag dumping control method and system for converters that is adaptable to multiple process scenarios. By combining the core parameters of the steelmaking process, it realizes the full-process automated control of slag dumping under different steel grades, slag-making processes and slag-retaining / non-slag-retaining scenarios, improves the accuracy, efficiency and safety of slag dumping, and achieves coordinated connection with the entire converter smelting process.

[0006] To achieve the above objectives, the present invention provides the following technical solution: An automatic slag removal control method for converters adaptable to multiple process scenarios includes the following steps: S1. Process Parameter Preset and Initialization: Based on the current steel grade and slag-making process of the converter, preset the core slag-pouring process parameters, including the target slag-pouring amount, slag viscosity threshold, slag temperature threshold, initial angular velocity of converter tilting, and initial position of slag pot; initialize each detection device and control module, and complete self-test and calibration; S2. Slag Discharge Preparation and Slag Pot Positioning: Control the slag pot car to move to the preset initial position, and confirm the positioning accuracy of the slag pot through the positioning device; control the converter to tilt to the slag discharge preparation angle to complete the slag discharge preparation; S3. Multi-dimensional real-time detection: Through slag flow detection device, converter tilt angle measurement device, slag pot weighing device and slag viscosity detection device, slag flow image, slag area, converter tilting parameters, amount of slag poured, slag viscosity and temperature data are collected simultaneously. S4. Closed-loop linkage control: The control module dynamically adjusts the converter tilting angular velocity and slag car travel displacement based on the multi-dimensional real-time detection data and the preset slag dumping core process parameters, and optimizes the slag dumping rhythm by combining the difference between the amount of slag dumped and the target amount of slag dumped. S5. Slag Discharge Stop and Reset: When the preset stop conditions are met, control the converter to stop tilting and return to the vertical position, and control the slag car to move to the slag processing area. S6. Data storage and optimization: Store process parameters, detection data and control commands during the slag dumping process, and optimize the preset process parameters for subsequent slag dumping through data analysis.

[0007] Furthermore, the target slag discharge amount is determined as follows: under the slag retention process, the target slag discharge amount is equal to the difference between the total slag amount of the converter and the target slag retention amount; under the non-slag retention process, the target slag discharge amount is equal to the total slag amount of the converter.

[0008] Furthermore, the slag viscosity threshold is determined according to the steel grade and slag-making process: for ordinary carbon steel using lime slag-making process, the slag viscosity threshold is 1.2 Pa·s-1.6 Pa·s; for alloy steel using dolomite slag-making process, the slag viscosity threshold is 1.5 Pa·s-2.0 Pa·s; the slag temperature threshold is determined according to the steel grade: for ordinary carbon steel smelting, the slag temperature threshold is 1300℃-1350℃; for alloy steel smelting, the slag temperature threshold is 1250℃-1300℃.

[0009] Furthermore, the slag pouring preparation angle is the converter tilt angle of 95°-105°; the slag pot positioning accuracy deviation is ≤5cm.

[0010] Furthermore, the slag flow detection device employs a machine vision system to acquire real-time images of the slag flow, identify slag flow characteristic boundaries, select a tracking area, and calculate the slag area within the tracking area; the converter tilt angle measurement device employs an absolute encoder to detect the converter tilt angle, angular velocity, and angular acceleration in real time; and the slag viscosity detection device employs an online viscosity sensor to detect the slag viscosity and temperature in real time.

[0011] Furthermore, in step S4, the rule for dynamically adjusting the converter tilting angular velocity is as follows: when the slag viscosity is less than or equal to a preset viscosity threshold and the slag flow temperature is greater than or equal to a preset temperature threshold, the converter is tilted using the initial tilting angular velocity; when the slag viscosity is greater than or equal to a preset viscosity threshold or the slag flow temperature is less than or equal to a preset temperature threshold, the tilting angular velocity is dynamically reduced based on the viscosity deviation and temperature deviation values, with an adjustment range of 0.1° / s-0.3° / s; when the amount of slag already dumped reaches 90% of the target amount of slag dumped, the tilting angular velocity is further reduced to 0.1° / s-0.2° / s. The method for adjusting the slag car's travel displacement is as follows: based on the real-time tilting angle of the converter, combined with the offset of the slag flow landing point and the position data fed back by the positioning device, the travel displacement of the slag car is dynamically adjusted so that the slag flow accurately falls into the slag pot; at the same time, based on the difference between the amount of slag already dumped and the target amount of slag dumped, the slag dumping completion time is preset, and linked with the subsequent smelting process of the converter, so as to achieve coordinated connection between the slag dumping rhythm and the iron and scrap steel loading processes.

[0012] Furthermore, the preset stop condition is any one of the following: ① The amount of slag already dumped has reached the target amount and the deviation is ≤ ±2%; ②The slag area within the tracking region remains ≤ the set detection threshold for 3-5 seconds, and no slag flow is detected; ③ The slag viscosity is greater than 1.2 times the preset viscosity threshold, or the converter tilt angle reaches the maximum safe tilt angle.

[0013] An automatic slag dumping control system for converters that is adaptable to multiple process scenarios is used to implement the above control method. It includes a converter unit, a detection unit, a slag pot conveying unit, a control unit, and a safety protection unit. The converter unit includes a converter body and a converter tilting device located at the bottom of the converter body. The converter tilting device is connected to the converter body in a transmission manner and is used to drive the converter body to tilt around the tilting axis to a preset angle. The detection unit includes multiple detection devices, each of which is set at a preset position on the converter body, slag pot, and slag pot car, and is used to collect multi-dimensional real-time data during the slag dumping process. The slag container conveying unit includes a slag container, a slag container car, and a vehicle drive mechanism located at the bottom of the slag container car. The slag container is placed on the slag container car, and the vehicle drive mechanism is connected to the slag container car for driving the slag container car to move along a preset track to a preset position. The control unit is located in the converter operating room and is electrically connected to the converter unit, the detection unit, the slag pot conveying unit and the safety protection unit respectively. It is used to receive the detection data of the detection unit, generate control commands according to preset process parameters and send them to the converter unit and the slag pot conveying unit. The safety protection unit is located at a preset detection position on the converter body and the slag pot, and is electrically connected to the control unit. It is used to detect abnormal operating conditions and trigger an emergency stop command to the control unit.

[0014] Furthermore, the detection unit includes a slag flow detection device, a converter tilt angle measurement device, a slag pot weighing device, a slag viscosity detection device, and a laser positioning device; The slag flow detection device is used to acquire real-time images of slag flow and identify slag flow characteristics; The converter tilt angle measuring device is used to detect the converter tilt angle and angular velocity in real time. The slag pot weighing device is used to detect the weight of slag in the slag pot in real time and accumulate the amount of slag that has been poured out. The slag viscosity detection device is used to detect the viscosity and temperature of the slag flowing out in real time. The laser positioning device has its transmitter on the slag car and its receiver in the converter plant, and is used to detect the positional deviation of the slag car in real time.

[0015] Furthermore, the control unit includes a central controller, a data storage module, and a data analysis module; The central controller is electrically connected to the converter unit, the detection unit, the slag pot conveying unit and the safety protection unit respectively. It is used to receive multi-dimensional detection data and execute closed-loop linkage control algorithm to generate converter tilting control command and slag pot car travel control command. The data storage module is electrically connected to the central controller and is used to store process parameters, detection data and control commands during the slag dumping process. The data analysis module is electrically connected to the data storage module and is used to analyze historical slag dumping data and optimize the preset process parameters for subsequent slag dumping. The safety protection unit includes a dust detection sensor, a splash detection sensor, and an emergency stop button; the dust detection sensor is located above the converter opening and is used to detect the dust concentration during the slag dumping process. When the dust detection sensor detects that the dust concentration exceeds the standard, the splash detection sensor detects abnormal slag splashing, or the operator triggers the emergency stop button, the safety protection unit immediately sends an emergency stop command to the control unit to control the converter to stop tilting and return to the vertical position.

[0016] The beneficial effects of this invention are: 1. Automatic Adaptation to Multiple Process Scenarios. This invention integrates core steelmaking process parameters (slag viscosity, temperature, steel grade, and slag-making process) into the slag-pouring control process. It automatically calculates the target slag-pouring amount based on whether slag is retained or not, and presets corresponding viscosity and temperature thresholds according to the differences in slag flow characteristics under different steel grades and slag-making processes. This achieves fully automated adaptation of the slag-pouring process for different steel grades such as carbon steel and alloy steel, and different slag-making processes such as lime slag-making and dolomite slag-making. This effectively solves the problem of insufficient adaptability to multiple process scenarios in existing technologies and improves the accuracy and stability of slag-pouring under different operating conditions.

[0017] 2. Multi-dimensional detection and closed-loop linkage control. This invention employs multi-dimensional detection methods, including slag flow image recognition, converter tilt angle measurement, slag pot weighing, and slag viscosity and temperature detection, to form a closed-loop linkage control loop of "process parameter preset—multi-dimensional real-time detection—dynamic control adjustment," avoiding the limitations of single detection indicators. When the detection of a certain dimension is obstructed by smoke or dust or interfered with by splashing, the detection data of other dimensions can be used as redundant verification, effectively improving the system's anti-interference capability and the control accuracy of the slag dumping process.

[0018] 3. Full-process automation and safety assurance. This invention achieves fully automated control of the slag dumping process, eliminating the need for manual intervention and preventing operators from being exposed to dangerous environments such as high-temperature fumes and slag splashes, significantly reducing the risk of safety accidents. Simultaneously, the safety protection unit can immediately trigger an emergency stop command to halt the slag dumping process in the event of excessive fumes, abnormal slag splashing, or equipment malfunction, ensuring the safety of both equipment and personnel.

[0019] 4. Coordinated and Continuous Optimization of the Entire Smelting Process. This invention optimizes the connection between the slag-pouring process and subsequent converter smelting processes (iron addition, scrap steel loading) through coordinated control of slag-pouring rhythm. This ensures seamless integration between slag-pouring completion time and subsequent processes, improving the overall efficiency of converter smelting. Furthermore, by analyzing historical slag-pouring data through a data analysis module, preset process parameters are continuously optimized, enabling the system to continuously improve its adaptability to different smelting conditions and slag-pouring effectiveness over long-term use.

[0020] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0021] To make the objectives, technical solutions, and advantages of the present invention clearer, the preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, wherein: Figure 1 This is a flowchart illustrating the control method of the present invention.

[0022] Figure 2 This is a schematic diagram of the overall architecture of the control system of the present invention.

[0023] Figure 3 This is a longitudinal cross-sectional schematic diagram of the automatic slag removal process equipment of the present invention.

[0024] Figure 4 This is a schematic cross-sectional view of the automatic slag removal process equipment of the present invention.

[0025] Reference numerals: 1-Converter body; 2-Converter tilting device; 3-Converter tilt angle measuring device; 4-Slag pot; 5-Slag pot car; 6-Vehicle drive mechanism; 7-Slag pot weighing device; 8-Laser positioning device; 9-Slag flow detection device; 10-Viscosity detection device; 11-Dust detection sensor; 12-Splash detection sensor. Detailed Implementation

[0026] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0027] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual pictures. They should not be construed as limiting the invention. To better illustrate the embodiments of the invention, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0028] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," "front," and "rear" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and 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, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present invention. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0029] Example 1: Slag-free process (carbon steel smelting, lime slag making) Please see Figures 1-4 This invention provides an automatic slag removal control method for converters that is adaptable to multiple process scenarios. This embodiment takes a 120t converter for smelting ordinary carbon steel, using lime slag making process, and a scenario where no slag is left as an example to illustrate the complete execution process of the control method of the present invention.

[0030] S1. Process Parameter Preset and Initialization: Based on the characteristics of carbon steel smelting and lime slag making processes, the core process parameters for slag dumping are preset as follows: Under the no-slag-retention process, the target slag dumping amount is equal to the total slag amount of the converter, i.e., 10t; the slag viscosity threshold is set at 1.5 Pa·s (within the range of 1.2 Pa·s-1.6 Pa·s for carbon steel lime slag making processes); the slag temperature threshold is set at 1300℃ (within the range of 1300℃-1350℃ for carbon steel smelting); the initial angular velocity of converter tilting is 0.5° / s; the initial position of the slag pot is aligned with the slag dumping point at the converter mouth. Initialize all detection devices and control modules, and complete self-checking and calibration.

[0031] S2. Slag Discharge Preparation and Slag Pot Positioning: Control the slag pot car to move to the preset initial position, and use the laser positioning device to detect and confirm that the slag pot positioning accuracy deviation is ≤5cm; control the converter to tilt to a 98° preparatory angle (within the range of 95°-105°), and use the tilt angle measuring device to calibrate the tilt angle accuracy.

[0032] S3. Multi-dimensional real-time detection: After the slag dumping is started, the machine vision system acquires slag flow images, identifies slag flow boundaries and selects tracking areas, and calculates the slag area in real time; the absolute encoder detects the converter tilting angle and angular velocity; the weighing sensor detects the weight of the slag pot in real time; the online viscosity sensor detects the slag viscosity as 1.3 Pa·s (≤ preset viscosity threshold 1.5 Pa·s) and the temperature as 1350℃ (≥ preset temperature threshold 1300℃).

[0033] S4. Closed-loop linkage control: Since the slag viscosity (1.3 Pa·s) ≤ preset viscosity threshold (1.5 Pa·s) and the slag flow temperature (1350℃) ≥ preset temperature threshold (1300℃), the control module maintains an initial angular velocity of 0.5° / s for tilting; based on the real-time tilting angle of the converter, combined with the slag flow landing point offset and the position data fed back by the laser positioning device, the slag car travel displacement is dynamically adjusted to ensure that the slag flow accurately falls into the slag pot; when the amount of slag poured reaches 9t (90% of the target amount of 10t slag poured), the tilting angular velocity is reduced to 0.3° / s to slow down the slag pouring rhythm and avoid excessive slag pouring.

[0034] S5. Slag Discharge Stop and Reset: When the amount of slag discharged reaches 10t and the deviation is 1.5% (≤±2%), the stop condition ① is met. Control the converter to stop tilting, start the return to the vertical position, and move the slag car to the slag processing area.

[0035] S6. Data storage and optimization: The process parameters, detection data and control commands during this slag dumping process are stored in the data storage module. The data analysis module analyzes the data in conjunction with historical data to optimize the initial angular velocity of the carbon steel lime slag making process to 0.48° / s, thereby improving the efficiency of subsequent slag dumping.

[0036] Example 2: Slag Retention Process (Alloy Steel Smelting, Dolomite Slag Formation) Please see Figures 1-4 This invention provides an automatic slag removal control method for converters that is adaptable to multiple process scenarios. This embodiment takes a 120t converter for alloy steel smelting, using dolomite slag making process, and slag retention scenario as an example to illustrate the execution process of the control method of the present invention under the slag retention process.

[0037] S1. Process Parameter Preset and Initialization: Based on the characteristics of alloy steel smelting and dolomite slag-making processes, the core process parameters for slag dumping are preset as follows: Total converter slag volume is 9t, target slag retention volume is 2t, and the target slag dumping volume under the slag retention process is equal to the difference between the total slag volume and the target slag retention volume, i.e., 7t; the slag viscosity threshold is set at 1.8 Pa·s (within the range of 1.5 Pa·s-2.0 Pa·s for alloy steel dolomite slag-making processes); the slag temperature threshold is set at 1280℃ (within the range of 1250℃-1300℃ for alloy steel smelting); the initial angular velocity of converter tilting is 0.45° / s; the initial position of the slag pot is aligned with the slag dumping point at the converter mouth. Initialize all detection devices and control modules, and complete self-checking and calibration.

[0038] S2. Slag dumping preparation and slag pot positioning: Control the slag pot car to move to the preset initial position, and the laser positioning device confirms that the positioning accuracy deviation is ≤5cm; control the converter to tilt to a 96° preparatory angle.

[0039] S3. Multi-dimensional real-time detection: After the slag dumping is started, the online viscosity sensor detects that the slag viscosity is 1.9 Pa·s (> preset viscosity threshold 1.8 Pa·s) and the temperature is 1270℃ (< preset temperature threshold 1280℃); at the same time, the machine vision system collects slag flow images in real time and calculates the slag area, the absolute encoder detects the tilting angle and angular velocity, and the weighing sensor detects the weight of the slag pot.

[0040] S4. Closed-loop linkage control: Because the slag viscosity (1.9 Pa·s) is greater than the preset viscosity threshold (1.8 Pa·s) and the slag flow temperature (1270℃) is less than the preset temperature threshold (1280℃), the control module dynamically reduces the tilting angular velocity from the initial 0.45° / s to 0.3° / s based on the viscosity and temperature deviation values ​​to avoid splashing when high-viscosity, low-temperature slag is poured out. During the slag pouring process, the tilting angular velocity is dynamically fine-tuned according to the real-time changes in viscosity and temperature, maintaining it within the range of 0.28° / s-0.32° / s. At the same time, based on the real-time tilting angle of the converter, combined with the slag flow landing point offset and the position data fed back by the laser positioning device, the slag car's traveling displacement is dynamically adjusted to ensure that the slag flow accurately falls into the slag pot. When the amount of slag poured out reaches 6.3t (90% of the target amount of 7t), the tilting angular velocity is further reduced to 0.2° / s to finely control the amount of slag poured out at the end, ensuring that 2t of slag is accurately left in the furnace.

[0041] S5. Slag Discharge Stop and Reset: When the amount of slag discharged reaches 7t and the deviation is 1.2% (≤±2%), the stop condition ① is met. Control the converter to stop tilting and return it to the vertical position (ensuring that 2t of slag remains in the furnace). The slag car is moved to the slag treatment area.

[0042] S6. Data storage and optimization: The slag data of this slag retention process is stored in the data storage module. The data analysis module combines historical data to optimize the viscosity threshold of the alloy steel dolomite slag-making process to 1.85 Pa·s, thereby improving the accuracy of slag retention control.

[0043] Example 3: Handling Abnormal Operating Conditions (Scenario of Abnormal Viscosity Increase) This embodiment takes the smelting of ordinary carbon steel in a 120t converter and the lime slag-making process as an example to illustrate the system's automatic response and stop mechanism when the slag viscosity increases abnormally during the slag pouring process.

[0044] S1 Process Parameter Preset and Initialization: Same as Example 1, with the preset slag viscosity threshold of 1.5 Pa·s, the target slag dumping amount of 10t, and the initial angular velocity of converter tilting of 0.5° / s.

[0045] S2 Slag Discharge Preparation and Slag Pot Positioning: Same as Example 1.

[0046] S3 Multi-Dimensional Real-Time Detection: In the initial stage after slag dumping starts, the online viscosity sensor detects a slag viscosity of 1.3 Pa·s (≤ threshold) and a temperature of 1350℃ (≥ threshold). During the middle stage of slag dumping, due to changes in the slag layer composition inside the furnace, the online viscosity sensor detects a gradual increase in slag viscosity to 1.65 Pa·s (> preset viscosity threshold 1.5 Pa·s), while the temperature decreases to 1280℃ (< preset temperature threshold 1300℃). In the later stage of slag dumping, the slag viscosity further increases to 1.85 Pa·s (> 1.2 times the preset viscosity threshold 1.5 Pa·s = 1.8 Pa·s). Throughout the process, the machine vision system continuously acquires slag flow images, the absolute encoder continuously detects tilting parameters, and the weighing sensor continuously detects the weight of the slag pot.

[0047] S4 Closed-Loop Linkage Control: During the middle stage of slag dumping, because the slag viscosity (1.65 Pa·s) is greater than the preset viscosity threshold (1.5 Pa·s) and the slag flow temperature (1280℃) is less than the preset temperature threshold (1300℃), the control module gradually reduces the tilting angular velocity from the initial 0.5° / s to 0.2° / s based on the viscosity deviation and temperature deviation. At the same time, based on the slag flow landing point offset and the position data fed back by the laser positioning device, the slag car's travel displacement is dynamically adjusted to ensure that the slag flow can still accurately fall into the slag pot under high viscosity conditions.

[0048] S5 Slag Discharge Stop and Reset: When the slag viscosity reaches 1.85 Pa·s (>1.2 times the preset viscosity threshold of 1.5 Pa·s), the stop condition ③ is met. The converter is controlled to immediately stop tilting and return to the vertical position. At this time, the amount of slag discharged is 5.8t. The operation screen prompts whether to manually confirm whether to end the slag discharge or to manually intervene in the slag discharge operation to prevent the slag flow from being obstructed or the equipment from being overloaded due to excessive viscosity.

[0049] S6 Data Storage and Optimization: The abnormal operating condition data is stored in the data storage module, and the data analysis module records the time nodes of the abnormal viscosity increase and the corresponding operating condition parameters, providing data support for the optimization of slag dumping parameters in the subsequent smelting of similar steel grades.

[0050] Example 4: System Hardware Configuration This embodiment is an automatic slag dumping control system for converters that is adapted to multiple process scenarios. It is used to implement the control methods in embodiments 1 to 3, including a converter unit, a detection unit, a slag pot conveying unit, a control unit, and a safety protection unit. The specific hardware composition and installation configuration of each unit of the control system are described in detail below.

[0051] Converter unit: The bottom of the converter body 1 is provided with a converter tilting device 2, which includes a tilting motor and a reduction mechanism. The tilting motor is connected to the tilting shaft of the converter body 1 through the reduction mechanism, driving the converter body 1 to tilt around the tilting shaft to a preset angle. The angular velocity during the tilting process is continuously adjustable.

[0052] Detection Units: The slag flow detection device 9 uses a machine vision system to acquire real-time images of the slag flow and identify characteristic boundaries of the slag flow; the converter tilt angle measurement device 3 uses an absolute encoder to detect the converter tilt angle, angular velocity, and angular acceleration in real time; the slag pot weighing device 7 uses a weighing sensor to detect the weight of the slag in the slag pot 4 in real time and accumulate the amount of slag that has been poured out; the slag viscosity detection device 10 uses an online viscosity sensor to detect the viscosity and temperature of the flowing slag in real time; the laser positioning device 8 has its transmitter on the slag pot car 5 and its receiver in the converter plant to detect the positional deviation of the slag pot car 5 in real time.

[0053] Slag pot conveying unit: Slag pot 4 is placed on slag pot car 5. The bottom of slag pot car 5 is equipped with vehicle drive mechanism 6. Vehicle drive mechanism 6 includes motor, reducer and traveling wheels. The motor is connected to the traveling wheels through the reducer. The traveling wheels cooperate with the preset track to drive slag pot car 5 to move along the track to the preset position.

[0054] Control Unit: Located in the converter operating room, it includes a central controller, a data storage module, and a data analysis module. The central controller is electrically connected to the converter unit, detection unit, slag pot conveying unit, and safety protection unit, receiving multi-dimensional detection data and executing a closed-loop linkage control algorithm to generate converter tilting control commands and slag pot car travel control commands. The data storage module is electrically connected to the central controller and stores process parameters, detection data, and control commands during the slag dumping process. The data analysis module is electrically connected to the data storage module and analyzes historical slag dumping data to optimize preset process parameters for subsequent slag dumping.

[0055] Safety protection unit: Dust detection sensor 11 is used to detect dust concentration during slag dumping; splash detection sensor 12 is used to detect slag splashing status; emergency stop button is located in the converter control room and on-site operation platform for manual triggering of emergency stop command. When dust detection sensor 11 detects excessive dust concentration, splash detection sensor 12 detects abnormal slag splashing, or the operator triggers the emergency stop button, the safety protection unit immediately sends an emergency stop command to the central controller, controlling the converter to stop tilting and return to the vertical position.

[0056] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A converter automatic slag dumping control method adaptable to multiple process scenarios, characterized in that, Includes the following steps: S1. Process Parameter Preset and Initialization: Based on the current steel grade and slag-making process of the converter, preset the core slag-pouring process parameters, including the target slag-pouring amount, slag viscosity threshold, slag temperature threshold, initial angular velocity of converter tilting, and initial position of slag pot; initialize each detection device and control module, and complete self-test and calibration; S2. Slag Discharge Preparation and Slag Pot Positioning: Control the slag pot car to move to the preset initial position, and confirm the positioning accuracy of the slag pot through the positioning device; control the converter to tilt to the slag discharge preparation angle to complete the slag discharge preparation; S3. Multi-dimensional real-time detection: Through slag flow detection device, converter tilt angle measurement device, slag pot weighing device and slag viscosity detection device, slag flow image, slag area, converter tilting parameters, amount of slag poured, slag viscosity and temperature data are collected simultaneously. S4. Closed-loop linkage control: The control module dynamically adjusts the converter tilting angular velocity and slag car travel displacement based on the multi-dimensional real-time detection data and the preset slag dumping core process parameters, and optimizes the slag dumping rhythm by combining the difference between the amount of slag dumped and the target amount of slag dumped. S5. Slag Discharge Stop and Reset: When the preset stop conditions are met, control the converter to stop tilting and return to the vertical position, and control the slag car to move to the slag processing area. S6. Data storage and optimization: Store process parameters, detection data and control commands during the slag dumping process, and optimize the preset process parameters for subsequent slag dumping through data analysis.

2. The control method according to claim 1, characterized in that, The target slag discharge amount is determined as follows: under the slag retention process, the target slag discharge amount is equal to the difference between the total slag amount of the converter and the target slag retention amount; under the non-slag retention process, the target slag discharge amount is equal to the total slag amount of the converter.

3. The control method according to claim 1, characterized in that, The slag viscosity threshold is determined according to the steel grade and slag-making process: for ordinary carbon steel using lime slag-making process, the slag viscosity threshold is 1.2 Pa·s-1.6 Pa·s; for alloy steel using dolomite slag-making process, the slag viscosity threshold is 1.5 Pa·s-2.0 Pa·s. The slag temperature threshold is determined according to the steel grade: for ordinary carbon steel smelting, the slag temperature threshold is 1300℃-1350℃; for alloy steel smelting, the slag temperature threshold is 1250℃-1300℃.

4. The control method according to claim 1, characterized in that, The slag pouring preparation angle is 95°-105° converter tilt angle; the slag pot positioning accuracy deviation is ≤5cm.

5. The control method according to claim 1, characterized in that, The slag flow detection device uses a machine vision system to acquire real-time images of the slag flow, identify slag flow characteristic boundaries, select a tracking area, and calculate the slag area within the tracking area. The converter tilt angle measurement device uses an absolute encoder to detect the converter tilt angle, angular velocity, and angular acceleration in real time. The slag viscosity detection device uses an online viscosity sensor to detect the slag viscosity and temperature in real time.

6. The control method according to claim 1, characterized in that, In step S4, the rule for dynamically adjusting the converter tilting angular velocity is as follows: when the slag viscosity is less than or equal to a preset viscosity threshold and the slag flow temperature is greater than or equal to a preset temperature threshold, the converter is tilted using the initial tilting angular velocity; when the slag viscosity is greater than or equal to a preset viscosity threshold or the slag flow temperature is less than or equal to a preset temperature threshold, the tilting angular velocity is dynamically reduced based on the viscosity deviation and temperature deviation, with an adjustment range of 0.1° / s-0.3° / s; when the amount of slag already dumped reaches 90% of the target amount of slag dumped, the tilting angular velocity is further reduced to 0.1° / s-0.2° / s. The method for adjusting the slag car's travel displacement is as follows: based on the real-time tilting angle of the converter, combined with the offset of the slag flow landing point and the position data fed back by the positioning device, the travel displacement of the slag car is dynamically adjusted so that the slag flow accurately falls into the slag pot; at the same time, based on the difference between the amount of slag already dumped and the target amount of slag dumped, the slag dumping completion time is preset, and linked with the subsequent smelting process of the converter, so as to achieve coordinated connection between the slag dumping rhythm and the iron and scrap steel loading processes.

7. The control method according to claim 1, characterized in that, The preset stop condition is any one of the following: ① The amount of slag already dumped has reached the target amount and the deviation is ≤ ±2%; ②The slag area within the tracking region remains ≤ the set detection threshold for 3-5 seconds, and no slag flow is detected; ③ The slag viscosity is greater than 1.2 times the preset viscosity threshold, or the converter tilt angle reaches the maximum safe tilt angle.

8. An automatic slag removal control system for converters adapted to multiple process scenarios, used to implement the control method described in any one of claims 1-7, characterized in that, It includes a converter unit, a detection unit, a slag pot conveying unit, a control unit, and a safety protection unit; The converter unit includes a converter body and a converter tilting device located at the bottom of the converter body. The converter tilting device is connected to the converter body in a transmission manner and is used to drive the converter body to tilt around the tilting axis to a preset angle. The detection unit includes multiple detection devices, each of which is set at a preset position on the converter body, slag pot, and slag pot car, and is used to collect multi-dimensional real-time data during the slag dumping process. The slag container conveying unit includes a slag container, a slag container car, and a vehicle drive mechanism located at the bottom of the slag container car. The slag container is placed on the slag container car, and the vehicle drive mechanism is connected to the slag container car for driving the slag container car to move along a preset track to a preset position. The control unit is located in the converter operating room and is electrically connected to the converter unit, the detection unit, the slag pot conveying unit and the safety protection unit respectively. It is used to receive the detection data of the detection unit, generate control commands according to preset process parameters and send them to the converter unit and the slag pot conveying unit. The safety protection unit is located at a preset detection position on the converter body and the slag pot, and is electrically connected to the control unit. It is used to detect abnormal operating conditions and trigger an emergency stop command to the control unit.

9. The control system according to claim 8, characterized in that, The detection unit includes a slag flow detection device, a converter tilt angle measurement device, a slag pot weighing device, a slag viscosity detection device, and a laser positioning device; The slag flow detection device is used to acquire real-time images of slag flow and identify slag flow characteristics; The converter tilt angle measuring device is used to detect the converter tilt angle and angular velocity in real time. The slag pot weighing device is used to detect the weight of slag in the slag pot in real time and accumulate the amount of slag that has been poured out. The slag viscosity detection device is used to detect the viscosity and temperature of the slag flowing out in real time. The laser positioning device has its transmitter on the slag car and its receiver in the converter plant, and is used to detect the positional deviation of the slag car in real time.

10. The control system according to claim 8, characterized in that, The control unit includes a central controller, a data storage module, and a data analysis module; The central controller is electrically connected to the converter unit, the detection unit, the slag pot conveying unit and the safety protection unit respectively. It is used to receive multi-dimensional detection data and execute closed-loop linkage control algorithm to generate converter tilting control command and slag pot car travel control command. The data storage module is electrically connected to the central controller and is used to store process parameters, detection data and control commands during the slag dumping process. The data analysis module is electrically connected to the data storage module and is used to analyze historical slag dumping data and optimize the preset process parameters for subsequent slag dumping. The safety protection unit includes a dust detection sensor, a splash detection sensor, and an emergency stop button; the dust detection sensor is located above the converter opening and is used to detect the dust concentration during the slag dumping process. When the dust detection sensor detects that the dust concentration exceeds the standard, the splash detection sensor detects abnormal slag splashing, or the operator triggers the emergency stop button, the safety protection unit immediately sends an emergency stop command to the control unit to control the converter to stop tilting and return to the vertical position.

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