Pouring flow rate control method, pouring flow rate control device, and pouring flow rate control program

Abstract

To realize highly accurate pouring flow rate control.SOLUTION: A pouring flow rate control method (S100) includes: an acquisition step (S101) of acquiring force sense information related to a ladle and visual information related to molten metal flowing out from the ladle; and a determination step (S103) of determining a control amount related to a movement of the ladle by referring to the force sense information and the visual information. In the determination step, weighting of the force sense information and the visual information is changed according to a posture and the movement of the ladle.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a pouring flow rate control method, a pouring flow rate control device, and a pouring flow rate control program. [Background technology]

[0002] There is a known technique for controlling the pouring flow rate by controlling the tilting of the ladle. For example, Patent Document 1 discloses an automatic pouring control method that performs feedback control using a target pouring weight pattern diagram as a control target and an actual poured weight calculated from the measured ladle weight as a control variable. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 8-57629 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the above-mentioned conventional techniques, the actual poured weight calculated from the measured weight of the ladle is used as the controlled quantity. Therefore, depending on the condition of the ladle and the molten metal in the ladle, there is a problem that accurate pouring cannot be performed.

[0005] One aspect of the present invention is to realize highly accurate control of the flow rate of the molten metal. [Means for solving the problem]

[0006] In order to solve the above problems, a pouring flow rate control method according to one embodiment of the present invention includes an acquisition step of acquiring force sensory information about a ladle and visual information about the molten metal flowing from the ladle, and a determination step of determining a control amount for the movement of the ladle by referring to the force sensory information and the visual information, wherein in the determination step, weighting of the force sensory information and the visual information is changed depending on the attitude and movement of the ladle.

[0007] In order to solve the above problems, a pouring flow rate control device according to one embodiment of the present invention comprises an acquisition unit that acquires force sensory information regarding a ladle and visual information regarding molten metal flowing from the ladle, and a decision unit that determines a control amount regarding the movement of the ladle by referring to the force sensory information and the visual information, and the decision unit changes the weighting of the force sensory information and the visual information depending on the posture and movement of the ladle.

[0008] The pouring flow rate control device according to each embodiment of the present invention may be realized by a computer. In this case, the pouring flow rate control program that causes a computer to operate as each part (software element) of the pouring flow rate control device to realize the pouring flow rate control device on a computer, and the computer-readable recording medium on which the program is recorded, also fall within the scope of the present invention. Effect of the Invention

[0009] According to one aspect of the present invention, the flow rate of the molten metal can be controlled with high accuracy. [Brief description of the drawings]

[0010] [Figure 1] 1 is a block diagram showing a configuration of a control system according to an embodiment of the present invention; [Diagram 2] 1 is a block diagram showing each component of a control system according to an embodiment of the present invention; [Diagram 3] 4 is a graph showing a change in the flow rate of molten metal in one embodiment of the present invention. [Figure 4] FIG. 4 is a flow chart showing a flow of processing by a control device according to an embodiment of the present invention. [Diagram 5] 2 is a block diagram showing a configuration of a determination unit included in the control device according to the embodiment of the present invention. FIG. [Figure 6] 2 is a block diagram showing a configuration of a first estimation unit included in the control device according to the embodiment of the present invention. FIG. [Figure 7] FIG. 2 is a diagram for explaining various parameters related to a ladle and molten metal according to an embodiment of the present invention. [Figure 8] 11 is a diagram for explaining a flow rate estimation process using visual information by a control device according to an embodiment of the present invention. FIG. [Figure 9] 11 is a diagram for explaining a flow rate estimation process using visual information by a control device according to an embodiment of the present invention. FIG. [Figure 10] 2 is a block diagram showing a hardware configuration of a control device according to an embodiment of the present invention; FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] [Embodiment 1] <Overview of Control System 1> The control system (pouring flow rate control system) 1 according to this embodiment is roughly as follows: Acquire force sensory information about the ladle and visual information about the molten metal flowing out of the ladle; Determine a control amount for the movement of the ladle by referring to the force information and the visual information. Here, the control system 1 is as follows: Changing the weighting of the force information and the visual information according to the attitude and movement of the ladle The configuration is as follows.

[0012] In this way, the control system 1 according to this embodiment has a configuration in which the weighting of the force sense information and the visual information is changed according to the attitude and movement of the ladle, so that the pouring flow rate can be controlled with high accuracy. Each component and each process of the control system 1 will be described in detail below. Note that the specific example of the material of the molten metal does not limit this embodiment.

[0013] <Specific configuration of control system 1> An embodiment of the present invention will be described in detail below. Fig. 1 is a block diagram showing the configuration of a control system (pouring flow rate control system) 1 according to this embodiment. As shown in Fig. 1, the control system 1 includes a control device 100 and a pouring system 500.

[0014] (Pouring System 500) First, the pouring system 500 will be described. The pouring system 500 is a system for pouring the molten metal MM into a pouring gate SP formed in the mold CM, and is controlled by a control device 100. Figure 2 is a schematic diagram of a control system 1 illustrating the physical configuration of the pouring system 500. As shown in Figure 2, the pouring system 500 includes a ladle 200, a support device 300, a first camera C1, and a second camera C2.

[0015] (Ladle 200) As shown in Fig. 2, the ladle 200 includes a bottomed vessel portion 201 and a pouring portion 202. Here, as shown in Fig. 2, the pouring portion 202 has a cylindrical configuration extending from the bottom of the vessel portion 201 toward an opening portion 203 of the vessel portion 201 in a direction gradually moving away from the vessel portion 201. Note that, in the example shown in Fig. 2, the pouring portion 202 and the vessel portion 201 are each configured to be cylindrical, but this is not intended to limit the present embodiment.

[0016] Because the ladle 200 has the above-mentioned configuration, the liquid surface area in the vessel part 201 is smaller than that in the pouring part 202, at least as small as the liquid surface area in the pouring part 202, compared to a so-called "top-pour type" ladle that does not have the cylindrical pouring part 202, and vibration of the liquid surface of the molten metal MM in the ladle 200 can be suppressed, so that the attitude and movement of the ladle 200 are stable and the flow rate of the molten metal MM can be suitably controlled. In addition, because the ladle 200 is provided with the cylindrical pouring part 202, the molten metal MM flowing out of the ladle 200 becomes approximately columnar, which can be accurately photographed with a camera.

[0017] (Support device 300) The support device 300 is configured to support the ladle 200. The support device 300 is configured to be able to change the translational position and orientation (posture) of the ladle 200. The translational position of the ladle 200 can be determined by the (X, Y, Z) coordinates of the center of gravity of the ladle 200, for example. As a specific coordinate system, a coordinate system in which the vertical downward direction is the positive direction of the Z axis as shown in FIG. 2 can be used, but this does not limit the present embodiment. The orientation (posture) of the ladle 200 can be expressed as the orientation in the above coordinate system of a reference axis (for example, the central axis CL of the vessel part 201 configured in a cylindrical shape) set in the ladle 200, for example. The orientation (posture) of the ladle 200 can be expressed by Euler angles, but this example does not limit the present embodiment.

[0018] As shown in FIG. 2, the support device 300 includes: A first arm A1, one end of which is fixed to the ladle 200; a joint J1 connecting the other end of the first arm A1 and one end of the second arm A2; and Above second arm A2 The first arm A1, the second arm A2, and the joint J1 are, for example, one or more drive mechanisms, such as motors, for changing the relative orientation of the first arm A1 and the second arm A2; and One or more driving mechanisms such as motors for changing the relative twist between the first arm A1 and the second arm A2 These driving mechanisms are controlled by control data (also called control information) OPD supplied from the control device 100.

[0019] The support device 300 has the above-mentioned configuration as an example, and is therefore capable of supporting the ladle 200 so as to change the translational position and orientation (posture) of the ladle 200 in accordance with control data OPD supplied from the control device 100. As will be described in detail later, the control data OPD includes a control variable ωinput Includes:

[0020] 2, the support device 300 is provided with a force sensor KS. The force sensor KS is configured to acquire force information related to the ladle 200, and is, for example, a six-axis force sensor related to the ladle 200. The force sensor KS is, for example, Force components (Fx, Fy, Fz) in each axial direction of the ladle 200 in a coordinate system based on the force sensor KS, and Torque components around each axis (Tx, Ty, Tz) The force sensor KS is configured to be able to detect the force. Force information (also called force data or force sensor data) KD detected by the force sensor KS is supplied to the control device 100. The force sensor KS may be configured to be provided in the ladle 200.

[0021] Note that the specific configuration of the support device 300 shown in FIG. 2 does not limit this embodiment, and the support device 300 may be configured to further include other arms and joints, or may be configured to include other components instead of the above-mentioned arms and joints.

[0022] (camera) As shown in FIG. 2, the pouring system 500 includes one or more cameras (a first camera C1 and a second camera C2 in the example shown in FIG. 2). The angle of view of the one or more cameras is adjusted so that the molten metal MM flowing out from the opening 203 of the ladle 200 can be imaged. When the pouring system 500 includes multiple cameras, the multiple cameras are arranged so that the molten metal MM flowing out from the opening 203 of the ladle 200 can be imaged from multiple angles. Image information (referred to as image data) captured by the one or more cameras is supplied to the control device 100. In the following, the image data captured by the first camera C1 may be represented by the symbol VD1, and the image data captured by the second camera C2 may be represented by the symbol VD2. The multiple symbols VD1, VD2, ... may be collectively expressed as VD.

[0023] (Control device 100) Next, a description will be given of the configuration of the control device 100. As shown in FIG.

[0024] (Storage unit 120) The storage unit 120 stores data referenced by each unit of the control unit 110 and data generated by each unit of the control unit 110. Target flow profile TFR Mathematical Modeling MD is stored.

[0025] Here, the target flow rate profile TFR is, as an example, data referenced by the determination unit 12 of the control unit 110 described later, and is configured to include a time series (progression) of a target value of the flow rate of the molten metal poured by the ladle 200. Figure 3 is a graph showing an example of the target flow rate profile TFR. The control device 100 controls the flow rate of the molten metal poured by the ladle 200 so that the flow rate of the molten metal poured by the ladle 200 becomes as close as possible to the target flow rate indicated by the target flow rate profile TFR.

[0026] 3 also shows a time series (progression) of the actual (or estimated) flow rate of the molten metal poured by the ladle 200, MFR. It may be expressed that the control device 100 controls the flow rate of the molten metal poured by the ladle 200 so that the flow rate of the molten metal poured by the ladle 200 follows the target flow rate indicated by the target flow rate profile TFR.

[0027] The theory and demonstration in Figure 3 used water as the fluid. More specifically, the flowrate value on the vertical axis in Figure 3 is an experimental value using water instead of molten metal, and the flow rate during the fixed-volume pouring period P1, which is sandwiched between the start and end of pouring, is 1.5 x 10 -4 m 3 In this way, in this example, water is used as the fluid, but the configuration according to this embodiment is also applicable to any molten metal as the fluid.

[0028] The mathematical model MD is, for example, a model referenced by a determination unit 12 of the control unit 110, which will be described later. The storage unit 120 stores the values ​​of a plurality of parameters that define the mathematical model MD, and these parameters are referenced by the determination unit 12. The details of the mathematical model MD will be described later.

[0029] (Control unit 110) The control unit 110 controls each unit of the control device 100. Furthermore, the control unit 110 includes an acquisition unit 11 and a determination unit 12, as shown in FIG.

[0030] (Acquisition part 11) The acquisition unit 11 acquires force-sense information KD related to the ladle 200 and visual information VD related to the molten metal MM flowing out of the ladle 200.

[0031] Here, the force-sense information KD acquired by the acquisition unit 11 is, for example, force-sense sensing data regarding the ladle 200 detected by the above-mentioned force sensor KS. From the force-sense information KD, the acquisition unit 11 can identify at least one of the translational position, translational velocity, and translational acceleration of the ladle 200, as well as the angle, angular velocity, and angular acceleration of the ladle 200. In other words, the acquisition unit 11 can acquire at least one of the translational position, translational velocity, and translational acceleration of the ladle 200, as well as the angle, angular velocity, and angular acceleration of the ladle 200, by referring to the force-sense information KD.

[0032] The angle (tilting angle) of ladle 200 is also referred to as the orientation or posture of ladle 200, and the translational velocity, translational acceleration, angular velocity (tilting angular velocity), and angular acceleration of ladle 200 are also referred to as the movement of ladle 200.

[0033] (Decision Unit 12) The determination unit 12 determines a control amount for the movement of the ladle 200 by referring to the force-sense information KD and the visual information VD acquired by the acquisition unit 11. Here, the visual information VD may include, for example, imaging data VD1 captured by the first camera C1 and imaging data VD2 captured by the second camera C2.

[0034] As an example, the determination unit 12 refers to the force-sense information KD and the visual information VD to determine a control variable ω input The determination unit 12 also changes the weighting of the force sense information KD and the visual information VD depending on the attitude and movement of the ladle 200. Here, the weighting of each of the force sense information KD and the visual information VD refers to the degree to which each of the force sense information KD and the visual information VD is referred to in the process of determining the control amount related to the movement of the ladle 200.

[0035] As shown in FIG. 1, the determination unit 12 includes a first estimating unit 121, a second estimating unit 122, a weight determining unit 123, and a control amount derivation unit .

[0036] (First Estimation Unit 121) The first estimation unit 121 refers to the force-sense information KD to calculate a first estimated amount related to the flow rate of the molten metal MM flowing out of the ladle 200. Here, the calculated first estimated amount is referred to, for example, to calculate a first feedback control amount, which will be described later. Specific processing by the first estimation unit 121 will be described later.

[0037] (Second Estimation Unit 122) The second estimation unit 122 refers to the visual information VD to calculate a second estimated amount related to the flow rate of the molten metal MM flowing out of the ladle 200. Here, the calculated second estimated amount is referred to, for example, to calculate a second feedback control amount, which will be described later. Specific processing by the second estimation unit 122 will be described later.

[0038] (Weight determination unit 123) The weight determination unit 123 changes the weighting of the force sense information KD and the visual information VD depending on the attitude and movement of the ladle 200. As an example, the weight determination unit 123 changes the weighting of the first estimated amount and the second estimated amount depending on the attitude and movement of the ladle 200. Alternatively, the weight determination unit 123 changes the weighting of the first feedback control amount and the second feedback control amount depending on the attitude and movement of the ladle 200. Specific processing by the weight determination unit 123 will be described later.

[0039] (Control amount derivation unit 124) The control variable derivation unit 124 derives a control variable related to the movement of the ladle 200 by referring to the first estimated variable and the second estimated variable. As an example, the control variable derivation unit 124 calculates the control variable related to the movement of the ladle 200 from a weighted sum of the first feedback control variable and the second feedback control variable, the weighted sum being based on weights according to the attitude and movement of the ladle 200. Here, as an example of the control variable related to the movement of the ladle 200, a control variable ω input Examples include:

[0040] (Processing flow by the control device 100) The flow of processing by the control device 100 will be described below with reference to Fig. 4. Fig. 4 is a flow chart showing the flow of processing (pouring molten metal flow rate control method S100) by the control device 100.

[0041] (Step S101) In step S101, the acquisition unit 11 acquires force-sense information KD related to the ladle 200 and visual information VD related to the molten metal MM flowing out of the ladle 200. The specific processing performed by the acquisition unit 11 has been described above, and therefore will not be described here.

[0042] (Step S102) Next, in step S102, the first estimation unit 121 refers to the force-sense information KD acquired in step S101 to calculate a first estimate of the flow rate of the molten metal MM flowing out of the ladle 200. Moreover, the second estimation unit 122 refers to the visual information VD acquired in step S101 to calculate a second estimate of the flow rate of the molten metal MM flowing out of the ladle 200. Specific processing in step S102 will be described later.

[0043] (Step S103) Next, in step S103, the control variable derivation unit 124 derives a control variable for the movement of the ladle 200 by referring to the first estimated variable and the second estimated variable calculated in step S102. In addition, control data OPD including the derived control variable is supplied to the pouring system 500, and the movement of the ladle 200 is controlled by the control data OPD. The specific processing in step S103 will be described later.

[0044] In addition, in the process of determining the above-mentioned control amount through the processes of steps S102 and S103, the force sense information KD and the visual information VD having weights changed by the weight determining unit 123 according to the attitude and movement of the ladle 200 are referenced.

[0045] (Step S104) Subsequently, in step S104, the control unit 110 determines whether or not a termination condition for deriving the controlled variable is satisfied. As an example, the control unit 110 determines whether or not the above-described steps S101 to S103 have been repeated for a predetermined number of time steps or for a predetermined period of time.

[0046] If it is determined that the termination condition is satisfied (YES in step S104), the control unit 110 terminates the processing; if not (NO in step S104), the process returns to step S101, and the acquisition unit 11 acquires force sensory information KD regarding the ladle 200 in the next time step and visual information VD regarding the molten metal MM flowing out of the ladle 200.

[0047] If the time step interval is determined in advance (for example, if it is determined that the above steps S101 to S103 are to be repeated N times per second), the control unit 110 may be configured to wait until the start timing of the next time step in step S104. Alternatively, if the time step interval is not determined in advance, the control unit 110 may be configured to return to step S101 without waiting for the processing in step S104, and to acquire, by the acquisition unit 11, force-sense information KD regarding the ladle 200 in the next time step and visual information VD regarding the molten metal MM flowing out of the ladle 200. In either case, the control unit 110 repeats the processing of steps S101 to S103 until it is determined in S104 that the end condition is satisfied.

[0048] By the control unit 110 performing the above-mentioned processing, control data OPD including the control variable determined in step S103 is sequentially supplied to the pouring system 500, and the movement of the ladle 200 is sequentially controlled according to the control variable.

[0049] According to the control device 100 that performs the above-described processing, Acquire force sensory information KD regarding the ladle 200 and visual information VD regarding the molten metal MM flowing out of the ladle 200 (step S101); A control amount for the movement of the ladle is determined by referring to the force sense information KD and the visual information VD (steps S102 to S103); In the determining step (steps S102 to S103), the weighting of the force sense information KD and the visual information VD is changed according to the attitude and movement of the ladle 200.

[0050] In this way, the control device 100 that performs the above processing is configured to change the weighting of the force sensory information KD and the visual information VD depending on the posture and movement of the ladle 200, thereby enabling highly accurate control of the pouring flow rate.

[0051] (Specific Configuration Example of Decision Unit 12) Hereinafter, a specific configuration example of the determination unit 12 and a specific processing example by the determination unit 12 will be described with reference to Fig. 5. Fig. 5 is a block diagram showing a specific configuration example of the determination unit 12. As shown in Fig. 5, the determination unit 12 includes a force-referenced flow rate estimation unit (first estimation unit) 121, a visual referenced flow rate estimation unit (second estimation unit) 122, a weight determination unit 123, and a control amount derivation unit 124.

[0052] 5, the control amount derivation unit 124 includes a force feedback control unit 1241, a visual feedback control unit 1242, an integration unit 1243, an FF control unit 1244, a first subtraction unit 1245, and a second subtraction unit 1246. Note that, although FB in the names of the above units indicates feedback and FF indicates feedforward, these names do not limit the present embodiment. Also, the name "subtraction unit" does not limit the present embodiment, and may be expressed as an "addition unit" from the viewpoint of adding after inverting the sign.

[0053] (Force-referred flow rate estimation unit (first estimation unit) 121) As shown in FIG. 5, the force-sense reference flow rate estimation unit 121 receives a control amount ω input and force sense information KD supplied from pouring system 500 are input.

[0054] The force-based flow rate estimation unit 121 estimates the control amount ω input and the force sensory information KD, a first estimated quantity fr regarding the flow rate of the molten metal MM flowing out of the ladle 200 is calculated. w As an example, the force-referred flow rate estimator 121 calculates the first estimated value fr using an extended Kalman filter. w The force-sense reference flow rate estimation unit 121 calculates the first estimated amount by using, as an example, a mathematical model MD including a derivative of the liquid surface area of ​​the molten metal MM in the ladle 200 with respect to the tilting angle of the ladle 200. The force-sense reference flow rate estimation unit 121 calculates the first estimated amount fr wThe process performed by the force-referred flow rate estimator 121 will be described in more detail below with reference to a different drawing. w is supplied to the first subtraction unit 1245.

[0055] (Visual reference flow rate estimation unit (second estimation unit) 122) 5, visual information VD supplied from the pouring system 500 is input to the visual reference flow rate estimation unit 122. The visual reference flow rate estimation unit 122 refers to the visual information VD and calculates a second estimated value fr i As an example, the second estimator fr i The calculation process involves A process of applying an edge detection process to a captured image of the molten metal MM flowing out of the ladle 200 (a captured image represented by at least one of the visual information VD1 and VD2); A process of acquiring a flow line passing through a midpoint of each edge pair for the plurality of edge pairs detected by the edge detection process; A process of acquiring an edge width from each of the plurality of edge pairs detected in the edge detection process, and calculating a cross-sectional area of ​​the molten metal MM flowing out by ellipse approximation; The visual reference flow rate estimator 122 calculates a second estimator fr at each of a plurality of time steps. i The calculated second estimator fr i is supplied to the second subtraction unit 1246.

[0056] (First subtraction unit 1245) The first subtraction unit 1245 and the second subtraction unit 1246 subtract the target flow rate q ref is supplied.

[0057] The first subtraction unit 1245, for example, subtracts the target flow rate q ref From the first estimator fr w The first flow rate error e obtained by subtracting w The calculated first flow rate error ew to the force-sense FB control unit 1241. The first subtraction unit 1245 subtracts the first flow rate error e w In this way, the first subtraction unit 1245 calculates the target flow rate q ref and the first estimator fr at each time step w The first flow rate error e w is calculated sequentially, and the calculated first flow rate error e w is supplied to the force sense FB control unit 1241.

[0058] (Second subtraction unit 1246) On the other hand, the second subtraction unit 1246, for example, calculates the target flow rate q ref From the second estimator fr i The second flow rate error e obtained by subtracting i The calculated second flow rate error e i to the visual FB control unit 1242. The second subtraction unit 1246 subtracts the second flow rate error e i In this way, the second subtraction unit 1246 calculates the target flow rate q ref and the second estimator fr at each time step i The second flow rate error e i is calculated sequentially, and the calculated second flow rate error e i is supplied to the visual FB control unit 1242.

[0059] (Force feedback control unit 1241) The force sense FB control unit 1241 subtracts the first flow rate error e w With reference to the first feedback control amount q w The above-mentioned processing by the first subtraction unit 1245 and the processing by the force sense FB control unit 1241 calculates the first estimated value fr w With reference to the first feedback control amount q wThe force-sense FB control unit 1241 calculates the first feedback control amount q w Calculate.

[0060] (Visual FB control unit 1242) The visual FB control unit 1242 subtracts the second flow rate error e i With reference to the second feedback control amount q i The above-mentioned processing by the second subtraction unit 1246 and the processing by the visual FB control unit 1242 calculates the second estimator fr i With reference to the second feedback control amount q i In addition, the vision FB control unit 1242 calculates the second feedback control amount q i Calculate.

[0061] In this way, feedback control referring to the force sense information KD and the visual information VD can be realized by the force sense FB control unit 1241 and the visual FB control unit 1242. Therefore, according to the control device 100 equipped with the force sense FB control unit 1241 and the visual FB control unit 1242, the pouring flow rate can be suitably controlled by feedback control referring to the force sense information KD and the visual information VD.

[0062] (Weight determination unit 123) The weight determination unit 123 changes the weighting of the force sense information KD and the visual information VD in response to the attitude and movement of the ladle 200. As an example, the weight determination unit 123 Identifying the attitude and movement of the ladle 200 by referring to at least one of the target flow rate profile TFR, the visual information VD, and the force sensory information KD; Weighting of the first feedback control amount and the second feedback control amount is determined according to the identified attitude and movement of the ladle 200. Information representing the weighting determined by the weighting determiner 123 is supplied to the integrator 1243. The weighting determiner 123 determines the weighting at each of a plurality of time steps. More specific processing by the weighting determiner 123 will be described later.

[0063] (Integrated Division 1243) The integration unit 1243 calculates the first feedback control amount q using the weight determined by the weight determination unit 123. w and the second feedback control quantity q i By integrating with the integrated control quantity q input As an example, the integration unit 1243 calculates the first feedback control amount (force reference feedback control amount) q w and the second feedback control amount ((visual reference feedback control amount))q i More specifically, the integration unit 1243 adds q input = F × q w + (1-F)×q i The integrated control quantity q input Here, F is the first feedback control amount (force reference feedback control amount) q w is a weighting coefficient multiplied by the second feedback control amount (visual reference feedback control amount) q i is a weighting coefficient multiplied by the above F value. The calculated integrated control amount q input is supplied to the FF control unit 1244. Note that the integration unit 1243 outputs the integrated control amount q input Calculate.

[0064] (FF control unit 1244) The FF control unit 1244 calculates the integrated control amount q input As a control variable for the movement of the ladle 200, a control variable ω input The calculated control amount ω input is supplied to the pouring system 500 and also to the force-based flow rate estimating unit 121, where the first estimated value fr w This is referred to in order to calculate

[0065] In this way, the processing by the integration unit 1243 and the FF control unit 1244 includes the first feedback control amount q w and the second feedback control amount q i and the weighted sum of the weights according to the attitude and movement of the ladle 200 is used to obtain a control amount ω input The calculation process includes a calculation process for calculating a control amount ω input A process of calculating

[0066] More specifically, the FF control unit 1244 calculates an inverse model of the above-mentioned mathematical model MD.

number

[0067] In this way, the above-mentioned mathematical model MD and the inverse model of the mathematical model MD include the derivative of the surface area A(θ) of the molten metal MM in the ladle 200 with respect to the tilting angle θ of the ladle 200. By using the mathematical model MD and the inverse model of the mathematical model MD having a term including the θ derivative of the surface area A(θ), it is possible to suitably calculate the above-mentioned first estimated quantity even for a ladle 200 having a unique shape as shown in Figures 2 and 7, and also to appropriately calculate the control quantity ω input can be suitably calculated.

[0068] (Example of configuration of the force-referred flow rate estimating unit (first estimating unit) 121) Next, a specific configuration example and processing example of the above-mentioned force-referred flow estimation unit (first estimation unit) 121 will be described. FIG. 6 is a block diagram showing a specific configuration example of the force-referred flow estimation unit 121. As shown in FIG. 6, the force-referred flow estimation unit 121 includes a gain calculation unit 1211, a mathematical model reference unit 1212, an adder 1213, and a subtracter 1214. The above-mentioned components of the force-referred flow estimation unit 121 configure an extended Kalman filter, and the force-referred flow estimation unit 121 calculates a first estimated quantity fr using the extended Kalman filter. w can be calculated.

[0069] (Adder 1213) The adder 1213 adds the extended Kalman gain calculated by the gain calculator 1211 (to be described later) to the control variable ω input The control amount after gain is calculated by adding or multiplying this to the mathematical model, and the calculated control amount after gain is supplied to the mathematical model reference unit 1212.

[0070] (Mathematical Model Reference Section 1212) The mathematical model reference unit 1212 refers to the control amount after the gain and calculates a plurality of state quantities by using the mathematical model MD. Here, the plurality of state quantities include a first type state quantity ST1 which is a state quantity having a corresponding observation value, and a second type state quantity ST2 which is a state quantity having no corresponding observation value.

[0071] Here, the first type state quantity ST1 having a corresponding observation value includes, for example, State quantity related to the angle (tilting angle θ) of the ladle 200 (see FIG. 7) Weight of molten metal in ladle 200 mm On the other hand, the second type state quantity ST2 for which no corresponding observation value exists includes, for example, The flow rate of molten metal MM flowing out of the ladle 200 is q(q ref ) (See Figure 7) The height of the pile of molten metal MM in the ladle 200 h ref (See Figure 7) etc.

[0072] The mathematical model reference unit 1212 uses the mathematical model MD to calculate the first estimated quantity fr w Calculate the first estimator fr w is supplied to the first subtraction unit 1245 described above.

[0073] An example of the mathematical model MD used by the mathematical model reference unit 1212 is as follows.

number

number

[0074] As explained with respect to the inverse model of the mathematical model MD (Equation 1), the mathematical model MD includes the derivative of the surface area A(θ) of the molten metal MM in the ladle 200 with respect to the tilting angle θ of the ladle 200. In this way, by using the mathematical model MD having a term including the θ derivative of the surface area A(θ) and the inverse model of the mathematical model MD, it is possible to suitably calculate the above-mentioned first estimated quantity even for a ladle 200 having a unique shape as shown in Figures 2 and 7, and also to appropriately calculate the control quantity ω input can be suitably calculated.

[0075] (Subtraction unit 1214) The subtraction unit 1214 calculates the difference between a first type of state quantity, among the multiple state quantities calculated by the mathematical model reference unit 1212, and an observation value corresponding to the first type of state quantity, and supplies the calculated difference to the gain calculation unit 1211. As an example, the subtraction unit 1214 calculates the difference between a state quantity corresponding to the force sense information KD, among the multiple state quantities calculated by the mathematical model reference unit 1212, and the force sense information KD acquired from the pouring system 500, and provides the calculated difference to the gain calculation unit.

[0076] (Gain calculation unit 1211) The gain calculation unit 1211 calculates an extended Kalman gain according to the difference supplied from the subtraction unit 1214. As an example, the gain calculation unit 1211 calculates an extended Kalman gain according to the difference between a state quantity corresponding to the force sense information KD, among the multiple state quantities calculated by the mathematical model reference unit 1212, and the force sense information KD acquired from the pouring system 500. The calculated extended Kalman gain is supplied to the addition unit 1213.

[0077] The force-based flow rate estimation unit 121 has the above-mentioned configuration, and thus can suitably calculate (estimate) the state quantity by the extended Kalman filter. In addition, the first estimated quantity fr w can be suitably calculated and provided to the control amount derivation unit 124.

[0078] (Example of processing by visual reference flow rate estimation unit (second estimation unit) 122) Next, an example of processing by the visual reference flow rate estimation unit 122 will be described with reference to Fig. 8 and Fig. 9. Fig. 8 and Fig. 9 are diagrams that show a schematic diagram of processing by the visual reference flow rate estimation unit 122. As shown in Fig. 8, the visual reference flow rate estimation unit 122 refers to at least one of visual information VD1 and visual information VD2, and applies edge detection processing to the measurement region DR in the image indicated by the visual information. Here, the edge detection processing is preferably performed on each of a plurality of horizontal meshes HM, as shown in Fig. 8.

[0079] By performing the above edge detection process, the visual reference flow rate estimation unit 122 can identify multiple edge pairs for the molten metal MM included in the measurement region DR. Then, as shown in Fig. 8, the visual reference flow rate estimation unit 122 identifies (acquires) a streamline FL passing through the midpoint of each edge pair for the multiple edge pairs. Here, as shown in Fig. 8, the identification process may involve a fitting process using a quadratic function. Furthermore, the visual reference flow rate estimation unit 122 refers to the streamline FL obtained by performing the above process and calculates the flow velocity of the molten metal MM by assuming a parabolic falling motion.

[0080] Moreover, as shown in Fig. 9, for the plurality of edge pairs, an edge width is obtained from each edge pair, and the cross-sectional area of ​​the outflowing molten metal is calculated by elliptical approximation. When the pouring system 500 is equipped with two cameras, as shown in Fig. 9, it is preferable to refer to both image information (also called visual information) VD1 taken by a first camera C1 arranged on the side as viewed from the ladle 200 and image information (also called visual information) VD2 taken by a second camera C2 arranged on the front as viewed from the ladle 200, and apply the above-mentioned edge detection process to both pieces of image information.

[0081] Alternatively, it is even more preferable to configure the pouring system 500 with three cameras, position the third camera C3 at an angle of approximately 45 degrees when viewed from the ladle 200, and apply the above-mentioned edge detection processing to the image information VD3 captured by camera C3.

[0082] In the case of two cameras, the cross-sectional area S of the molten metal MM can be calculated using two edge widths a and b as shown in FIG. 9. In the case of three cameras, the cross-sectional area S of the molten metal MM can be calculated using three edge widths a, b, and c as shown in FIG. In this way, the process by the visual reference flow rate estimation unit 122 includes the following steps: - Applying edge detection processing to the captured image of the molten metal MM flowing out of the ladle 200, A process of acquiring a flow line passing through a midpoint of each edge pair for the plurality of edge pairs detected by the edge detection process; A process of acquiring an edge width from each of the plurality of edge pairs detected in the edge detection process and calculating a cross-sectional area of ​​the outflowing molten metal by ellipse approximation; The process includes executing the following.

[0083] By carrying out the above processing, the visual reference flow rate estimation unit 122 obtains a second estimated value fr i can be suitably calculated and provided to the control amount derivation unit 124.

[0084] <Example of Weight Determination Processing by Weight Determination Unit 123> An example of the weight determination process performed by the weight determination unit 123 will be described below.

[0085] (Weight determination process example 1) The weight determination unit 123 may be configured to set the weight F of the force sense information KD to be larger during a period in which the fluctuation in the flow rate of the molten metal MM from the ladle 200 is smaller. During a period in which the fluctuation in the flow rate of the molten metal MM from the ladle 200 is smaller, the first feedback control amount (force-sense reference feedback control amount) q w The value of the weighting coefficient F(P1) to be multiplied by During a period in which the fluctuation in the flow rate of the molten metal MM from the ladle 200 is large, the first feedback control amount (force-sense reference feedback control amount) q w The value of the weighting coefficient F(P2) to be multiplied by F(P1)>F(P2) It may be set so that

[0086] In addition, in this processing example, the "period of smaller flow rate fluctuation" and the "period of larger flow rate fluctuation" may be determined by the weight determination unit 123 making a relative comparison of the flow rate fluctuation in these two periods, or may be determined by the weight determination unit 123 by comparing the flow rate fluctuation in each target period with a predetermined threshold value.

[0087] In addition, the "period of smaller flow rate fluctuation" and the "period of larger flow rate fluctuation" in this processing example may be configured to be determined sequentially with reference to the force sense information KD that is acquired sequentially, but are not limited to this. The weight determination unit 123 may be configured to refer to the target flow rate profile TFR in advance and estimate (specify) in advance whether each of a plurality of partial periods included in the profile corresponds to a "period of smaller flow rate fluctuation" or a "period of larger flow rate fluctuation."

[0088] For example, the weight determination unit 123 determines that the fluctuation in the flow rate of the molten metal MM during a period P21 when the pouring of the molten metal MM starts (the period from about 2 seconds to about 8 seconds in the example of FIG. 3) and a period P22 when the pouring of the molten metal MM ends (the period from about 20 seconds to about 25 seconds in the example of FIG. 3) is greater than the fluctuation in the flow rate of the molten metal MM during a fixed-quantity pouring period P1 of the molten metal MM (the period from about 8 seconds to about 20 seconds in the example of FIG. 3) that is sandwiched between the above two periods, F(P1)>F(P21) F(P1)>F(P22) It may be set so that

[0089] According to the findings of the inventors, the reliability of the force-sense information KD is improved in a period in which the fluctuation in the flow rate of the molten metal MM from the ladle 200 is smaller. In other words, in a period in which the fluctuation in the flow rate of the molten metal MM from the ladle 200 is smaller, the movement of the ladle 200 can be suitably controlled by referring to the force-sense information KD.

[0090] On the other hand, in a period when the fluctuation in the flow rate of the molten metal MM from the ladle 200 is large, the reliability of the force-sense information KD decreases due to the acceleration in the vertical direction (Z-axis) applied to the molten metal MM, etc. In other words, in a period when the fluctuation in the flow rate of the molten metal MM from the ladle 200 is large, it may be difficult to appropriately control the movement of the ladle 200 even by referring to the force-sense information KD.

[0091] On the other hand, the visual information VD provides a certain degree of reliability without being largely dependent on fluctuations in the flow rate of the molten metal MM from the ladle 200. In other words, regardless of whether the fluctuations in the flow rate of the molten metal MM from the ladle 200 are small or large, the movement of the ladle 200 can be suitably controlled by referring to the visual information VD using the above-mentioned configuration.

[0092] Therefore, as in this example, by setting the weight F of the force sense information KD to a larger value during periods when the fluctuation in the flow rate of the molten metal MM from the ladle 200 is smaller, the movement of the ladle 200 can be more appropriately controlled whether the fluctuation in the flow rate of the molten metal MM from the ladle 200 is smaller or larger.

[0093] (Weight determination process example 2) The weight determination unit 123 may be configured to set a larger weight for the visual information VD when the magnitude of at least one of the angular acceleration and the translational acceleration that define the movement of the ladle 200 is larger. When the magnitude of at least one of the angular acceleration and the translational acceleration that determine the movement of the ladle 200 is larger, the second feedback control amount (visual reference feedback control amount) q i The value of the weighting coefficient "1-F(P3)" multiplied by When the magnitude of at least one of the angular acceleration and the translational acceleration that determine the movement of the ladle 200 is smaller, the second feedback control amount (visual reference feedback control amount) q i The value of the weighting coefficient "1-F(P4)" multiplied by 1-F(P3)>1-F(P4) In other words, F(P3) <F(P4) It may be set so that

[0094] In this processing example, "when the magnitude of at least one of the angular acceleration and the translational acceleration is larger" and "when the magnitude of at least one of the angular acceleration and the translational acceleration is smaller" may be specified by the weight determination unit 123 by comparing the magnitude of at least one of the angular acceleration and the translational acceleration in a certain period (timing) with the magnitude of at least one of the angular acceleration and the translational acceleration in another period (timing). Alternatively, they may be specified by comparing the magnitude of at least one of the angular acceleration and the translational acceleration in each period with a predetermined threshold value.

[0095] In addition, in this processing example, "when at least one of the angular acceleration and translational acceleration is larger" and "when at least one of the angular acceleration and translational acceleration is larger" may be determined sequentially by referring to the force sense information KD obtained sequentially, but are not limited to this. The weight determination unit 123 may be configured to refer to the target flow rate profile TFR in advance and estimate (specify) in advance whether each of a plurality of partial periods included in the profile corresponds to "when at least one of the angular acceleration and translational acceleration is larger" or "when at least one of the angular acceleration and translational acceleration is smaller."

[0096] Furthermore, the above configuration may also be expressed as a configuration in which the weight determination unit 123 sets the weight of the visual information VD to be greater when the magnitude of at least one of the product of the angular acceleration that determines the movement of the ladle 200 and the mass of the molten metal MM in the ladle 200 and the product of the translational acceleration and the mass of the molten metal MM in the ladle 200 is greater.

[0097] According to the findings of the inventors, the reliability of the visual information VD is improved when the magnitude of at least one of the angular acceleration and translational acceleration that determine the movement of the ladle 200 is large. In other words, when the magnitude of at least one of the angular acceleration and translational acceleration that determine the movement of the ladle 200 is large, the movement of the ladle 200 can be suitably controlled by referring to the visual information VD.

[0098] On the other hand, the reliability of the force-sense information KD is improved when the magnitude of at least one of the angular acceleration and translational acceleration that determine the movement of the ladle 200 is smaller. In other words, when the magnitude of at least one of the angular acceleration and translational acceleration that determine the movement of the ladle 200 is smaller, the movement of the ladle 200 can be suitably controlled by referring to the force-sense information KD.

[0099] Therefore, as in the present example, by setting the weight of the visual information VD to be greater when the magnitude of at least one of the angular acceleration and translational acceleration that determine the movement of the ladle 200 is greater, the movement of the ladle 200 can be more suitably controlled whether the magnitude of at least one of the angular acceleration and translational acceleration that determine the movement of the ladle 200 is greater or smaller.

[0100] (Weight determination process example 3) The weight determination unit 123 -Material composition of molten metal MM Physical properties of molten metal MM Temperature dependence of physical properties of molten metal MM -Temperature of molten metal The weighting of the force sense information KD and the visual information VD may be further changed depending on the above. For example, if the molten metal MM is a certain material A, a positive offset may be added to the initial value of the force sense information KD or the visual information VD, and if not, the offset may not be added. Furthermore, in addition to that, either the weight determination process example 1 or the weight determination process example 2 may be applied.

[0101] Also, if the viscosity of the molten metal MM is equal to or greater than a predetermined value, a positive offset may be added to the initial value of the force sense information KD or the visual information VD, and if not, the offset may not be added. In addition, either the weight determination process example 1 or the weight determination process example 2 may be applied.

[0102] In addition, if the temperature dependency of the viscosity of the molten metal MM is equal to or greater than a predetermined value, a positive offset may be added to the initial value of the force sense information KD or the visual information VD, and if not, the offset may not be added. In addition, either the weight determination process example 1 or the weight determination process example 2 may be applied.

[0103] Also, if the temperature of the molten metal MM is equal to or higher than a predetermined value, a positive offset may be added to the initial value of the force sense information KD or the visual information VD, and if not, the offset may not be added. In addition, either the weight determination process example 1 or the weight determination process example 2 may be applied.

[0104] According to the knowledge obtained by the inventors, the reliability of the force sense information KD and the visual information VD may vary depending on the composition of the material of the molten metal MM, the physical properties of the molten metal MM, the temperature of the molten metal MM, and the like.

[0105] Therefore, as in this example, by further changing the weighting of the force sensory information KD and visual information VD depending on the material composition of the molten metal MM, the physical properties of the molten metal MM, the temperature of the molten metal MM, etc., the movement of the ladle 200 can be suitably controlled regardless of the material composition of the molten metal MM, the physical properties of the molten metal MM, the temperature of the molten metal MM, etc.

[0106] (Weight determination process example 4) In addition, the weight determination unit 123 may be configured to refer to at least one of the force sense information KD and the visual information VD to determine whether or not a liquid surface vibration of a predetermined magnitude or greater has occurred in the molten metal MM in the ladle 200, and to reduce the weight of the force sense information KD if a liquid surface vibration has occurred.

[0107] According to the knowledge of the inventors, the reliability of the force-sense information KD decreases when a certain level of vibration or more occurs in the molten metal MM in the ladle 200. According to the above configuration, when a liquid surface vibration occurs, the weight of the force-sense information KD is reduced, so that the movement of the ladle 200 can be appropriately controlled regardless of whether or not a liquid surface vibration occurs.

[0108] (Weight determination process example 5) The weight determination unit 123 may be configured to set weights for at least one of the visual information VD and the haptic information KD using a trained model that receives as input at least one of the visual information VD and the haptic information KD and outputs weights for at least one of the visual information VD and the haptic information KD.

[0109] The above model can be trained in advance by referring to teacher data including at least one of the visual information VD and the haptic information KD and weights as correct answer data for at least one of the visual information VD and the haptic information KD. As such a model, for example, a neural network such as a CNN (Convolutional Neural Network) or an RNN (Recurrent Neural Network) can be used, but this is not a limitation of the present example, and models having other configurations may also be used.

[0110] [Software implementation example] The control block of the control device 100 (particularly, the acquisition unit 11 and the determination unit 12) may be realized by a logic circuit (hardware) formed on an integrated circuit (IC chip) or the like, or may be realized by software. In the latter case, the control device 100 is configured using, for example, a computer (electronic calculator).

[0111] (Physical configuration of the control device 100) Fig. 10 is a block diagram illustrating a physical configuration of a computer used as the control device 100. As shown in Fig. 10, the control device 100 can be configured by a computer including a bus 1010, a processor 1001, a main memory 1002, an auxiliary memory 1003, a communication interface 1004, and an input / output interface 1005. The processor 1001, the main memory 1002, the auxiliary memory 1003, the communication interface 1004, and the input / output interface 1005 are connected to each other via the bus 1010. An input device 1006 and an output device 1007 are connected to the input / output interface 1005.

[0112] The processor 1001 may be, for example, a CPU (Central Processing Unit), a microprocessor, a digital signal processor, a microcontroller, or a combination of these.

[0113] The main memory 1002 may be, for example, a semiconductor RAM (random access memory).

[0114] The auxiliary memory 1003 may include one or more non-transient computer-readable recording media. For example, the auxiliary memory 1003 may be a flash memory, a hard disk drive (HDD), a solid state drive (SSD), or a combination of these. The auxiliary memory 1003 stores a program (pouring flow rate control program) for causing the processor 1001 to execute the above-mentioned operation of the control device 100. The processor 1001 loads the program stored in the auxiliary memory 1003 onto the main memory 1002, and executes each command included in the loaded program.

[0115] The communication interface 1004 is an interface for connecting to a network (eg, the Internet).

[0116] As the input / output interface 1005, for example, a USB interface, infrared, or a short-range communication interface such as Bluetooth (registered trademark), or a combination of these is used.

[0117] For example, a keyboard, a mouse, a touch pad, a microphone, or a combination of these is used as the input device 1006. For example, a display, a printer, a speaker, or a combination of these is used as the output device 1007.

[0118] Although the pouring flow rate control system 1 includes a control device 100 as an example, the pouring flow rate control system of the present invention can be constructed by linking various components including the functional configuration of the control device 100 without including the control device 100.

[0119] 〔summary〕 The subject matter described in this specification includes the following aspects.

[0120] (Aspect 1) acquiring force sensory information about the ladle and visual information about the molten metal flowing out of the ladle; a determination step of determining a control amount for the movement of the ladle by referring to the force sense information and the visual information; Including, In the determining step, Changing the weighting of the force information and the visual information according to the attitude and movement of the ladle Pouring flow rate control method.

[0121] According to the above configuration, it is possible to realize highly accurate control of the flow rate of the molten metal.

[0122] (Aspect 2) In the determining step, The weight of the force sense information is set to be larger during a period in which the fluctuation in the flow rate of the molten metal from the ladle is smaller. 2. The method for controlling the flow rate of molten metal according to claim 1.

[0123] According to the above configuration, the weight of the force sense information is set to be greater during a period in which the fluctuation in the flow rate of the molten metal from the ladle is smaller, thereby achieving highly accurate control of the flow rate of the molten metal poured.

[0124] (Aspect 3) In the determining step, When the magnitude of at least one of the angular acceleration and the translational acceleration that define the movement of the ladle is larger, the weight of the visual information is set to be larger. 3. The method for controlling a flow rate of molten metal according to claim 1 or 2.

[0125] According to the above configuration, when the magnitude of at least one of the angular acceleration and translational acceleration that determine the movement of the ladle is larger, the weight of the visual information is set greater, thereby achieving highly accurate pouring flow rate control.

[0126] (Aspect 4) The determining step includes: a first estimation step of calculating a first estimation amount relating to a flow rate of the molten metal flowing out of the ladle by referring to the force sensory information; a second estimation step of calculating a second estimate of the flow rate with reference to the visual information; a deriving step of deriving a control amount related to the movement of the ladle by referring to the first estimated amount and the second estimated amount; Contains 4. The method for controlling a flow rate of a molten metal according to any one of aspects 1 to 3.

[0127] According to the above configuration, a control amount for the movement of the ladle is derived by referring to the first estimated amount and the second estimated amount, so that highly accurate control of the pouring flow rate can be realized.

[0128] (Aspect 5) The deriving step includes: a first feedback control amount calculation step of calculating a first feedback control amount by referring to the first estimated amount; a second feedback control amount calculation step of calculating a second feedback control amount by referring to the second estimated amount; a calculation step of calculating a control amount relating to the movement of the ladle from a weighted sum of the first feedback control amount and the second feedback control amount, the weighted sum being based on weights according to the attitude and movement of the ladle; The method for controlling a flow rate of a pouring molten metal according to embodiment 4, further comprising the steps of:

[0129] According to the above configuration, it is possible to realize highly accurate control of the flow rate of the molten metal being poured by feedback control that refers to the first estimated amount and the second estimated amount.

[0130] (Aspect 6) In the first estimation step, Calculating the first estimated quantity using a mathematical model including a derivative of a surface area of ​​the molten metal in the ladle with respect to a tilting angle of the ladle; In the calculation step, a control amount relating to the movement of the ladle is calculated using an inverse model of the mathematical model. A method for controlling a flow rate of molten metal according to embodiment 5.

[0131] According to the above configuration, a mathematical model is used that includes the derivative of the liquid surface area of ​​the molten metal in the ladle with respect to the tilting angle of the ladle, so that highly accurate control of the pouring flow rate can be achieved.

[0132] (Aspect 6) In the second estimation step, applying edge detection processing to a captured image of the molten metal flowing out of the ladle; A process of acquiring a flow line passing through a midpoint of each edge pair for a plurality of edge pairs detected by the edge detection process; a process of acquiring an edge width from each of the plurality of edge pairs detected in the edge detection process, and calculating a cross-sectional area of ​​the outflowing molten metal by ellipse approximation; Run A method for controlling a flow rate of molten metal according to embodiment 5.

[0133] According to the above configuration, the second estimated amount relating to the flow rate is calculated by the process of obtaining the flow lines and the process of calculating the cross-sectional area of ​​the molten metal, so that highly accurate control of the flow rate of the molten metal can be achieved.

[0134] (Aspect 8) The ladle may include: A container portion having a bottom; a cylindrical pouring part extending from a bottom of the container part toward an opening of the container part in a direction gradually moving away from the container part; A ladle having 8. The method for controlling a flow rate of a pouring molten metal according to any one of aspects 1 to 7.

[0135] The ladle having the above-mentioned configuration can suppress the vibration of the surface of the molten metal in the ladle, thereby achieving highly accurate control of the flow rate of the molten metal being poured.

[0136] (Aspect 9) an acquisition unit that acquires force sensory information regarding the ladle and visual information regarding the molten metal flowing out of the ladle; a determination unit that determines a control amount related to the movement of the ladle by referring to the force sense information and the visual information; Equipped with The determination unit is Changing the weighting of the force information and the visual information according to the attitude and movement of the ladle Pouring flow control device.

[0137] According to the above configuration, it is possible to realize highly accurate control of the flow rate of the molten metal.

[0138] (Aspect 10) A pouring flow rate control program for causing a computer to function as the pouring flow rate control device described in aspect 9, the pouring flow rate control program causing a computer to function as the acquisition unit and the determination unit.

[0139] According to the above configuration, it is possible to realize highly accurate control of the flow rate of the molten metal.

[0140] The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention. [Explanation of symbols]

[0141] 1. Control system (pouring flow rate control system) 100 ···Control device (pouring flow rate control device) 300...Support device 500 ···Pouring system 110 Control section 11...Acquisition part 12 Decision section 121 First Estimation Section 122 Second Estimation Section 123 Weight determination unit 124 Control quantity derivation part S100 Pouring flow rate control method S101...Acquisition process S102... Estimation process S103...Decision process

Claims

1. acquiring force sensory information about the ladle and visual information about the molten metal flowing out of the ladle; a determination step of determining a control amount for the movement of the ladle by referring to the force sense information and the visual information; Including, In the determining step, Changing the weighting of the force information and the visual information according to the attitude and movement of the ladle Pouring flow rate control method.

2. In the determining step, The weight of the force sense information is set to be larger during a period in which the fluctuation in the flow rate of the molten metal from the ladle is smaller. The method for controlling the flow rate of molten metal according to claim 1.

3. In the determining step, When the magnitude of at least one of the angular acceleration and the translational acceleration that define the movement of the ladle is larger, the weight of the visual information is set to be larger. The method for controlling the flow rate of molten metal according to claim 1.

4. The determining step includes: a first estimation step of calculating a first estimation amount relating to a flow rate of the molten metal flowing out of the ladle by referring to the force sensory information; a second estimation step of calculating a second estimate of the flow rate with reference to the visual information; a deriving step of deriving a control amount related to the movement of the ladle by referring to the first estimated amount and the second estimated amount; The method for controlling the flow rate of molten metal according to any one of claims 1 to 3, further comprising the steps of:

5. The deriving step includes: a first feedback control amount calculation step of calculating a first feedback control amount by referring to the first estimated amount; a second feedback control amount calculation step of calculating a second feedback control amount by referring to the second estimated amount; a calculation step of calculating a control amount relating to the movement of the ladle from a weighted sum of the first feedback control amount and the second feedback control amount, the weighted sum being based on weights according to the attitude and movement of the ladle; The method for controlling the flow rate of molten metal according to claim 4, further comprising the steps of:

6. In the first estimation step, Calculating the first estimated quantity using a mathematical model including a derivative of a surface area of ​​the molten metal in the ladle with respect to a tilting angle of the ladle; In the calculation step, a control amount relating to the movement of the ladle is calculated using an inverse model of the mathematical model. The method for controlling the flow rate of molten metal according to claim 5.

7. In the second estimation step, applying edge detection processing to a captured image of the molten metal flowing out of the ladle; A process of acquiring a flow line passing through a midpoint of each edge pair for a plurality of edge pairs detected by the edge detection process; a process of acquiring an edge width from each of the plurality of edge pairs detected in the edge detection process, and calculating a cross-sectional area of ​​the outflowing molten metal by ellipse approximation; Run The method for controlling the flow rate of molten metal according to claim 5.

8. The ladle may include: A container portion having a bottom; a cylindrical pouring part extending from a bottom of the container part toward an opening of the container part in a direction gradually moving away from the container part; The method for controlling the flow rate of molten metal according to any one of claims 1 to 3, wherein a ladle having a

9. an acquisition unit that acquires force sensory information regarding the ladle and visual information regarding the molten metal flowing out of the ladle; a determination unit that determines a control amount related to the movement of the ladle by referring to the force sense information and the visual information; Equipped with The determination unit is Changing the weighting of the force information and the visual information according to the attitude and movement of the ladle Pouring flow control device.

10. A pouring flow rate control program for causing a computer to function as the pouring flow rate control device according to claim 9, the program causing a computer to function as the acquisition unit and the determination unit.

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