Method for determining the position of a component in an installation for producing steel and / or working steel, and system for determining the position

Abstract

The invention relates to a method for determining the position of a component (20) of a device (10) in an installation (2) for producing steel and / or working steel, using a radar-assisted measuring device (30). The invention also relates to a system (1) comprising an installation (2) for producing steel and / or working steel and a radar-assisted measuring device (30), the system (1) being designed to carry out a method according to any of the preceding claims.

Description

[0001] Page 1 of 23

[0002] Applicant: SMS group GmbH

[0003] Our reference number: P81088DE

[0004] August 30, 2024

[0005] Method for determining the position of a component in a steel production and / or steel processing plant and system for determining the position

[0006] The present invention relates to a method for determining the position of a component of a device in a plant for steel production and / or steel processing and to a system for determining the position of a component of a device in a plant for steel production and / or steel processing.

[0007] In a steel production and / or steel processing plant, such as a steelworks and / or a rolling mill, it is common practice to position movable components of various production devices at a defined location using positioning equipment. For example, in a rolling mill, the rolls are exchanged using a roll changing device. This requires positioning new or refurbished rolls with a predetermined accuracy within the mill's roll stand. Typically, the roll changing device is position-controlled, for example, by flow meters, linear potentiometers, cable-operated position sensors, or limit switches, to ensure the rolls are positioned correctly within the roll stand.

[0008] A similar task in a rolling mill is, for example, the transport of rolled and wound coils from a reel. For this, a so-called coil lift truck must be moved to the reel. Page 2 / 23

[0009] P81088DE can be arranged in a position-controlled manner to transport the coil away from the reel.

[0010] The previously described examples represent only a small selection of applications in a steel production and / or steel processing plant where movable components or devices must be repeatedly moved to a predefined position. The measurement methods used to date no longer meet the increased demands of the production processes in a steel production and / or steel processing plant.

[0011] One of the problems underlying the present invention is to provide a method and / or a system which is suitable to enrich the prior art.

[0012] The problem underlying the present invention is solved by a method according to claim 1. Advantageous embodiments are described in the dependent claims.

[0013] More precisely, the problem underlying the present invention is solved by a method for determining the position of a component of a device in a steel production and / or steel processing plant using a radar-based measuring device.

[0014] Such a sophisticated method offers the advantage of more robust and therefore more accurate component position determination. Particularly in environments like steel production and / or processing plants, such as steel mills and / or rolling mills, conventional optical measurement methods, such as laser measurement, cannot achieve the required accuracies under the demanding conditions prevailing there. Page 3 / 23

[0015] P81088DE Existing dust, steam, or splashing water, along with alignment problems, can lead to significant measurement deviations in such systems. A radar-based measurement method, due to its independence from influences caused by dust or other airborne contaminants and its lower susceptibility to alignment errors, can therefore achieve increased robustness against measurement errors and thus also increased measurement accuracy.

[0016] The radar-based measuring device can include a radar sensor configured to transmit and / or receive an EMCW radar signal. Such a radar sensor can also be referred to as an EMCW radar sensor. EMCW stands for Frequency-Modulated Continuous Wave Radar. Alternatively or additionally, the radar-based measuring device can include a CW radar sensor. A CW radar sensor can also be referred to as a Doppler radar sensor, where CW stands for Continuous-Wave. Finally, the radar-based measuring device can include a pulse radar sensor.

[0017] The method can also be used, for example, for monitoring the position of a component in a device within a steel production and / or steel processing plant. For instance, continuous position monitoring of the component allows for the detection of any changes in its position, thus enabling position monitoring. Based on this position monitoring, a production process, such as a rolling process, can be controlled and / or regulated, for example, by means of a control and / or regulating device.

[0018] Advantageously, the component's position is determined with respect to at least one degree of freedom of movement of the component. Page 4 / 23

[0019] P81088DE component. By determining the position along only one degree of freedom, the measurement accuracy in that degree of freedom can be further increased. Preferably, the component's position is determined with respect to at least two, preferably three, degrees of freedom of the component.

[0020] To increase the accuracy of position determination and to determine the absolute position of the component, the degrees of freedom of movement with respect to the steel production and / or steel processing plant can be defined. Preferably, the degrees of freedom of movement with respect to the steel production and / or steel processing plant can be defined. Particularly preferably, two or three degrees of freedom of movement with respect to the steel production and / or steel processing plant can be defined or determined.

[0021] In an advantageous embodiment of the method, the antenna of a radar sensor of the radar-based measuring device can be arranged in a position that does not change with respect to its location in the steel production and / or steel processing plant. This allows for a simplified arrangement of the radar-based measuring device in a steel production and / or steel processing plant, thus simplifying the execution of the method.

[0022] An antenna of a radar sensor can be configured to receive and / or transmit radar signals.

[0023] In a further advantageous embodiment of the method, an antenna of a radar sensor of the radar-based measuring device can be arranged in a positionally variable manner with respect to its position within the steel production and / or steel processing plant. This allows a radar-based measuring device to be flexibly positioned within the steel production and / or steel processing plant, so that the position of the component... Page 5 / 23

[0024] P81088DE This can be achieved with even greater accuracy. For example, the radar-based measuring device can be arranged on the device. Furthermore, the radar-based measuring device can be arranged such that there is a direct line of sight between at least one antenna of the radar sensor and the component of the device.

[0025] The position of the component can be determined with significantly increased accuracy using a radar-based measuring device, wherein the radar-based measuring device comprises a radar sensor with a field of view of < 30°, preferably < 15°, and particularly preferably < 4°. The radar-based measuring device can also comprise a radar sensor with a field of view of < 25°, < 20°, < 10°, < 8°, < 6°, < 5°, or < 3°. Particularly preferably, the radar-based measuring device can comprise a radar sensor with a field of view of 3°. The radar-based measuring device can also comprise a radar sensor with a field of view of > 23°, > 18°, > 12°, > 7°, > 4°, > 3°, or > 2°.

[0026] The position of the components can be determined with even greater accuracy using a radar-based measuring device, wherein the radar-based measuring device comprises a radar sensor with a lens diameter of < 500 mm, preferably < 140 mm, and particularly preferably < 10 mm. The radar-based measuring device can also comprise a radar sensor with a lens diameter of < 100 mm, or < 75 mm, or < 50 mm, or < 25 mm. Furthermore, the radar-based measuring device can comprise a radar sensor with a lens diameter of > 8 mm, or > 12 mm, or > 18 mm, or > 28 mm.

[0027] Preferably, an antenna of a radar sensor of the radar-based measuring device emits a radar signal with a frequency of > 2 GHz, preferably of > 8 GHz and particularly preferably page 6 / 23

[0028] P81088DE of > 20 GHz. An antenna of a radar sensor of the radar-based measuring device can emit a radar signal with a frequency of > 50 GHz, or of > 75 GHz, or of > 100 GHz, or of > 125 GHz, or of > 150 GHz, or of > 200 GHz, or of > 250 GHz. An antenna of a radar sensor of the radar-based measuring device can emit a radar signal with a frequency of < 300 GHz, or of < 225 GHz, or of < 175 GHz, or of < 90 GHz, or of < 60 GHz, or of < 16 GHz, or of < 6 GHz.

[0029] Preferably, a radar sensor of the radar-based measuring device generates a measurement spot with a measurement spot radius on a measuring surface, wherein the measurement spot radius is < 100% of the distance between the radar sensor and the measuring surface, preferably < 8%, and particularly preferably < 6%. The smaller the measurement spot radius, the stronger the measurement signal reflected from the measuring surface and received by an antenna of the radar sensor. This can increase the measurement accuracy, so that a method designed in this way exhibits increased measurement accuracy. A radar sensor of the radar-based measuring device can generate a measurement spot with a measurement spot radius on a measuring surface, wherein the measurement spot radius is < 50% of the distance between the radar sensor and the measuring surface, or < 25%, or < 15%, or < 12%, or < 4%, or < 2%, or < 0.5%.

[0030] The measuring surface can be located on a portion of the component's surface. The measuring surface can encompass the component's edges. The measuring surface can be located partially or completely on a portion of the device's surface. The measuring surface can be located partially or completely on a surface of the steel production and / or steel processing plant, for example, on a wall or ceiling.

[0031] Preferably, the method can be designed such that the radar sensor generates more than one measurement spot, wherein the measurement page 7 / 23

[0032] P81088DE spots can be arranged on different measuring surfaces. This makes it possible, for example, to identify objects that are relatively constant compared to each other, such as a component that is arranged on a component changing device and that is approaching a device together with the component changing device, from the environment. This further increases the robustness of the position determination, because the position determination does not depend solely on the result of a measurement of a measuring point.

[0033] The radar-based measuring device can particularly advantageously have a linear measurement deviation of the component's position determination of < 0.01% relative to a distance between a radar sensor of the radar-based measuring device and a measuring surface, preferably < 0.005% and particularly preferably < 0.0005%. For example, the radar-based measuring device can have a measurement deviation of < 1 mm at a distance of 10 m between a radar sensor of the radar-based measuring device and a measuring surface, preferably < 0.5 mm and particularly preferably < 0.05 mm.

[0034] The linear measurement deviation can be the measurement deviation along a dimension in space, for example along the linear distance between a radar sensor of the radar-based measuring device and the component.

[0035] Preferably, the radar-based measuring device has a measuring frequency of < 1000 Hz, preferably < 500 Hz, and particularly preferably < 50 Hz. This allows for increased measuring accuracy and, in particular, increased resolution of the received measuring signal. The radar-based measuring device can have a measuring frequency of > 5 Hz, preferably > 10 Hz, and particularly preferably > 100 Hz, and again preferably > 900 Hz. This makes it possible to measure objects that are relatively constant compared to each other, for example, a component. Page 8 / 23

[0036] P81088DE ...

[0037] The measurement frequency can be the number of measurements provided by the radar-based measuring device within a time interval. For example, at a measurement frequency of 10 Hz, the radar-based measuring device provides 10 measurements per second.

[0038] The method can preferably be designed such that the radar-based measuring device has a minimum measuring distance of > 0.005 m, preferably of > 0.05 m and particularly preferably of > 0.5 m.

[0039] The method can be designed such that the radar-based measuring device has a maximum measuring distance of < 40 m, preferably < 20 m and particularly preferably < 15 m. This allows the position of a component of a device to be accurately determined even over long distances within a steel production and / or steel processing plant.

[0040] The facility for steel production and / or steel processing can be designed as a steelworks or comprise a steelworks. A steelworks can include a blast furnace and / or an electric furnace, such as an electric arc furnace. A steelworks typically encompasses the steelmaking steps from iron ore to molten iron.

[0041] The plant for steel production and / or steel processing can be designed as a rolling mill or include a rolling mill. A rolling mill can be a continuous casting plant, a rolling device, a... Page 9 / 23

[0042] P81088DE includes a handling device and / or a tape handling device.

[0043] For example, if a roll in a rolling mill needs to be replaced, a new or refurbished roll can be moved to a predetermined position near a rolling stand using a roll changing device, such as a roll changing carriage. The position of the roll or the roll changing device can be determined using radar-based measuring equipment. Once the roll or the roll changing device has reached the predetermined position, the roll, along with any components attached to it, can be moved into the rolling stand using the roll changing device.

[0044] The device can be designed as a treatment device for metallic workpieces. For example, the device can be designed as a forming device, a device for machining, and / or a cutting device.

[0045] The device can be designed as a strip processing device for metallic workpieces.

[0046] The device can be configured as a rolling mill for metallic workpieces, particularly metal strips. Metallic workpieces can include slabs, long products, billets, and other semi-finished products. For example, the rolling mill can have one or more rolling stands. A rolling stand can have two, three, four, or more rolls.

[0047] The component can be designed as a roller of a rolling device for metallic workpieces. Page 10 / 23

[0048] P81088DE The component can be designed as a coil lift truck for transporting a metal coil.

[0049] The device can be designed as an overhead crane and the component as a trolley of the overhead crane.

[0050] The problem underlying the present invention is further solved by a system comprising a plant for steel production and / or steel processing and a radar-based measuring device, wherein the system is configured to carry out a previously described method.

[0051] It should be mentioned at this point that the characteristics previously described for the procedure can also be combined with the characteristics described for the system, and vice versa.

[0052] A system designed in this way offers the advantage that the component's position can be determined more robustly and therefore more accurately. Particularly in environments such as steel production and / or steel processing plants, for example, a steel mill and / or a rolling mill, known optical measurement methods, such as laser measurement, cannot achieve the required accuracies under the demanding conditions prevailing there. Existing dust, steam, or splashing water, along with alignment problems, can lead to significant measurement deviations in such systems. A system incorporating a radar-based measuring device, due to its independence from influences from dust or other airborne contaminants and its lower susceptibility to alignment errors, can exhibit increased robustness against measurement errors and thus also increased measurement accuracy.Furthermore, a radar-based measuring system requires less maintenance, thus reducing production downtime in steel production and / or steel processing plants. Page 11 / 23.

[0053] P81088DE

[0054] Advantageously, a radar sensor of the radar-based measuring device can be arranged in the steel production and / or steel processing plant with a gimbal mount, either in a fixed or variable position. This further increases the robustness of the component's position determination. In particular, it improves the alignment of the measuring device with, for example, the component. The gimbal mount can be connected to the steel production and / or steel processing plant. The gimbal mount can be connected to the device. The gimbal mount can be connected to an interchangeable device.

[0055] The radar-based measuring device can include an energy storage device connected to it, preferably in a position fixed relative to the radar-based measuring device. This allows for flexible placement of the radar-based measuring device within a steel production and / or steel processing plant. Because the radar-based measuring device includes an energy storage device, a wireless power supply can be ensured, thus eliminating the limitations of cable routing to the radar-based measuring device. The energy storage device can be a battery or be configured as such. The energy storage device can be a thermoelectric generator or be configured as such. The energy storage device can be an energy harvester or be configured as such.

[0056] According to an advantageous embodiment, a radar sensor of the radar-based measuring device has an antenna, wherein page 12 / 23

[0057] The P81088DE antenna is designed to receive and / or transmit radar signals from the radar sensor.

[0058] A radar sensor of the radar-based measuring device can have a plurality of antennas, wherein at least a first and a second antenna are configured for receiving and / or transmitting radar signals from the radar sensor; and wherein the first antenna is arranged at a distance from the second antenna. Such a radar-based measuring device can additionally determine angular information of the device component, thus further increasing the accuracy of the component's position determination. Furthermore, such a radar-based measuring device can detect more than one measurement point. This makes it possible to identify objects that are relatively unchanging from each other, for example, a component mounted on a component exchange device and approaching a device together with the component exchange device, in relation to their environment.This can further increase the robustness of the position determination.

[0059] The radar-based measuring device can be data-connected to a control and / or regulation unit, which is configured to control and / or regulate the device. By knowing the exact position of a component within the device, it is possible to control the device with respect to the process carried out by means of the device in such a way as to achieve an improved process result. For example, precise knowledge of the position of a roller in a rolling mill can be used to control and / or regulate process parameters of the rolling mill, such as contact pressure, taking the position of the roller into account. This can improve the process result. Page 13 / 23

[0060] P81088DE The radar-based measuring device and / or the control and / or regulation unit may have a storage unit. The radar-based measuring device and / or the control and / or regulation unit may have an interface for exchanging data, in particular for sending and / or receiving data. The interface is preferably a wireless interface. The interface may also be configured to receive data from other measuring devices and / or send data to other measuring devices. Finally, the radar-based measuring device and / or the control and / or regulation unit can be accessed via a communication link, preferably a wireless communication link, using the interface. This allows, for example, remote maintenance.

[0061] Preferably, the radar-based measuring device is wirelessly connected to the control and / or regulation unit. The control and / or regulation unit can be an electronic component. In particular, the control and / or regulation unit can be configured to receive and transmit data, preferably data from the radar-based measuring device. The data from the radar-based measuring device can include information about the position of the device component. The control and / or regulation unit can be configured to change one or more process parameters of the device based on the information about the position of the device component contained in the data, for example, to perform position control of a roller of a rolling mill.The control unit can be configured to change one or more process parameters of the device based on data received from one or more additional measuring devices, for example, to perform position control of a roller of a rolling device. Page 14 / 23.

[0062] P81088DE Further advantages, details and features of the invention will become apparent from the illustrated examples below. Specifically, the following will be shown:

[0063] Figure 1: a schematic representation of a system according to a first implementation form;

[0064] Figure 2: a schematic representation of a system according to a second implementation form; and

[0065] Figure 3: a schematic representation of a system according to a third implementation form.

[0066] In the following description, identical reference symbols denote identical components or identical features, so that a description given for one component in relation to one figure also applies to the other figures, thus avoiding repetitive descriptions. Furthermore, individual features described in connection with one embodiment can also be used separately in other embodiments.

[0067] Figure 1 shows a schematic representation of a system 1 comprising a steel production and / or steel processing plant 2 and a radar-based measuring device 30 according to a first embodiment. The system 1 is configured to perform a method for determining the position of a component 20 of a device 10 in the steel production and / or steel processing plant 2 using the radar-based measuring device 30. An antenna 32 of a radar sensor 31 of the radar-based measuring device 30 is arranged in a position that is fixed with respect to its position in the steel production and / or steel processing plant 2. The antenna 32, the radar sensor 31, and the radar-based measuring device 30 are arranged on a column 3 of the steel production and / or steel processing plant 2. The device 10 is designed as a rolling mill 11 and has a rolling stand 12. The component 20 is designed as a roll 21.In the figure shown in Figure 1, page 15 / 23.

[0068] System 1, as shown in P81088DE, enables the position of roller 21 to be determined during a roller change operation. For example, roller 21 can be moved to a previously defined position by means of a component change device 25, such as a roller change carriage, so that a subsequent roller change operation can be carried out. System 1 can then determine whether roller 21 has reached the previously determined position by determining the position of roller 21 in the roller device 11 using the radar-based measuring device 30.

[0069] Figure 2 shows a schematic representation of a system 1 comprising a steel production and / or steel processing plant 2 and a radar-based measuring device 30 according to a second embodiment. An antenna 32 of a radar sensor 31 of the radar-based measuring device 30 is arranged so that its position within the steel production and / or steel processing plant 2 can be changed. In the system 1 shown in Figure 2, the antenna 32, the radar sensor 31, and the radar-based measuring device 30 are arranged on the component exchange device 25. The radar sensor 31 is configured to emit radar signals in the direction of a column 3 of the steel production and / or steel processing plant 2.

[0070] Figure 3 shows a schematic representation of a system 1 comprising a steel production and / or steel processing plant 2 and a radar-based measuring device 30 according to a third embodiment. An antenna 32 of a radar sensor 31 of the radar-based measuring device 30 is arranged so that its position within the steel production and / or steel processing plant 2 can be changed. In the system 1 shown in Figure 3, the antenna 32, the radar sensor 31, and the radar-based measuring device 30 are arranged on the component exchange device 25. The radar sensor 31 is configured to... (Page 16 / 23)

[0071] P81088DE tet, to emit radar signals in the direction of the device 10, for example in the direction of the rolling stand 12.

[0072] Page 17 of 23

[0073] P81088DE

[0074] Reference symbol list

[0075] system

[0076] Plant for steel production and / or steel processing

[0077] Hall support of the plant for steel production and / or steel processing

[0078] device

[0079] Rolling device

[0080] Rolling mill frame

[0081] component

[0082] Roll ze

[0083] Component exchange device

[0084] Radar-based measuring device

[0085] radar sensor

[0086] antenna

Claims

Page 18 / 23 P81088DE Patent claims 1. Method for determining the position of a component (20) of a device (10) in a steel production and / or steel processing plant (2) using a radar-based measuring device (30) .

2. Method according to claim 1, wherein the position determination of the component (20) is carried out with respect to at least one degree of freedom of movement of the component (20).

3. Method according to claim 2, wherein the degree of freedom of movement of the component (20) with respect to the plant for steel production and / or steel processing (2) is determinable.

4. Method according to one of the preceding claims, wherein an antenna (32) of a radar sensor (31) of the radar-based measuring device (30) is arranged in a position that does not change with respect to its position in the plant for steel production and / or steel processing (2).

5. Method according to one of the preceding claims, wherein an antenna (32) of a radar sensor (31) of the radar-based measuring device (30) is arranged in a positionally variable manner with respect to its position in the plant for steel production and / or steel processing (2).

6. Method according to one of the preceding claims, wherein the radar-based measuring device (30) has a radar sensor (31) with an opening angle of < 30°, preferably < 15° and particularly preferably < 4°.

7. Method according to any of the preceding claims, wherein the radar-based measuring device (30) includes a radar sensor (31) Page 19 / 23 P81088DE with a lens diameter of < 500 mm, preferably < 40 mm and particularly preferably < 10 mm.

8. Method according to one of the preceding claims, wherein an antenna (32) of a radar sensor (31) of the radar-based measuring device (30) emits a radar signal with a frequency of > 2 GHz, preferably of > 8 GHz and particularly preferably of > 20 GHz.

9. A method according to one of the preceding claims, wherein a radar sensor (31) of the radar-based measuring device (30) generates a measurement spot with a measurement spot radius on a measurement surface, wherein the measurement spot radius is < 100% of a distance between the radar sensor (31) and the measurement surface, preferably < 8% and especially preferred < 6%.

10. Method according to one of the preceding claims, wherein the radar-based measuring device (30) has a linear measurement deviation of the position determination of the component (20) of < 0.01 % with respect to a distance between a radar sensor (31) of the radar-based measuring device (30) and a measuring surface, preferably of < 0.005 % and particularly preferably of < 0.0005 % .

11. A method according to any one of the preceding claims, wherein the radar-based measuring device (30) has a measuring frequency of < 1000 Hz, preferably < 500 Hz and particularly preferably < 10 Hz.

12. A method according to any one of the preceding claims, wherein the radar-based measuring device (30) has a minimum measuring distance of > 0.005 m, preferably > 0.05 m and particularly preferably > 0.5 m. Page 20 / 23 P81088DE 13. Method according to one of the preceding claims, wherein the radar-based measuring device (30) has a maximum measuring distance of < 40 m, preferably of < 20 m and particularly preferably of < 15 m.

14. Method according to any of the preceding claims, wherein the plant for steel production and / or steel processing (2) is designed as a steel plant or comprises a steel plant.

15. Method according to any of the preceding claims, wherein the steel production and / or steel processing plant (2) is designed as a rolling mill or comprises a rolling mill.

16. Method according to one of the preceding claims, wherein the device (10) is designed as a treatment device for metallic workpieces.

17. Method according to one of the preceding claims, wherein the device (10) is designed as a strip processing device for metallic workpieces.

18. Method according to one of the preceding claims, wherein the device (10) is designed as a rolling device for metallic workpieces, in particular for metal strips.

19. Method according to one of the preceding claims, wherein the component (20) is designed as a roller of a rolling device for metallic workpieces.

20. Method according to one of the preceding claims, wherein the component (20) is designed as a coil lift truck for transporting a metal coil. Page 21 / 23 P81088DE 21. Method according to one of the preceding claims, wherein the device (10) is designed as an overhead crane and the component (20) is designed as a trolley of the overhead crane.

22. System (1) comprising a steel production and / or steel processing plant (2) and a radar-based measuring device (30), wherein the system is configured to perform a method according to one of the preceding claims.

23. System (1) according to claim 22, wherein a radar sensor (31) of the radar-based measuring device (30) is arranged in the steel production and / or steel processing plant (2) in a position that is either fixed or positionally variable with respect to the steel production and / or steel processing plant (2).

24. System (1) according to one of claims 22 - 23, wherein the radar-based measuring device (30) has an energy storage device which is connected to the radar-based measuring device (30), preferably in a position unchanging with respect to the radar-based measuring device (30).

25. System (1) according to one of claims 22 - 24, wherein a radar sensor (31) of the radar-based measuring device (30) has an antenna (32), wherein the antenna (32) is configured to receive and / or transmit radar signals from the radar sensor (31).

26. System (1) according to one of claims 22-25, wherein a radar sensor (31) of the radar-based measuring device (30) has a plurality of antennas (32), wherein at least a first and a second antenna (32) are configured to receive and / or transmit radar signals from the radar sensor (31); and wherein the first antenna (32) is arranged spaced apart from the second antenna (32). Page 22 / 23 P81088DE 27. System (1) according to one of claims 22 - 26, wherein the radar-based measuring device (30) is data-connected to a control and / or regulation unit, wherein the control and / or regulation unit is configured to control and / or regulate the device (10).

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