EP2407261B1 - Method for automatic positioning a spout of a metallurgical container - Google Patents

Description

Field of engineering

The present invention relates to a method for automatically detecting the position of a spout of a metallurgical vessel, in particular a converter, a pan or a Gießverteilers, by means of a measuring device with a non-contact measuring grid or a non-contact measuring curtain.

State of the art

A specialist in the field of foundry or metallurgy, different solutions for bearing detection of a spout of a metallurgical vessel are known:

• dass die Messlatte auf dem Ausguss exakt platziert wurde, sodass von der Lage der Messlatte auf die Lage des Ausgusses rückgeschlossen werden kann,
• dass auf dem Ausguss ausreichend Platz vorhanden ist, um die Messlatte zu platzieren,
• dass die Messlatte während des Betriebs sauber gehalten werden kann, und
• dass bei der Lagebestimmung freie Sicht auf die Messlatte gegeben ist.

After a solution optical stereo cameras are used for this purpose, wherein the position of the spout is determined by the position of a bar, which is placed on the spout or connected to this. This solution requires

• that the bar has been placed exactly on the spout so that the position of the spout can be deduced from the position of the spout,
• that there is enough space on the spout to raise the bar,
• that the bar can be kept clean during operation, and
• that in the determination of the position is given a clear view of the bar.

The WO 2009/141184 A1 shows the use of a measuring plate and a stereo camera for determining a spout in a metallurgical vessel.

• da der Abtastvorgang im Allgemeinen sehr lange dauert,
• da erfahrungsgemäß Laserstrahlen in Umgebungen mit hohem Staubanteil in der Atmosphäre sehr störanfällig sind,
• da die bei der Abtastung anfallende Menge an Messdaten groß ist, und
• da die Auswertung der 3D Messdaten aufwändig ist.

According to another solution, the spout of laser beams is scanned 3-dimensional and determines the location of the spout. This solution is unfavorable

• since the scanning process generally takes a very long time,
• experience has shown that laser beams in environments with a high dust content in the atmosphere are very prone to failure,
• because the amount of measurement data obtained during the scan is large, and
• because the evaluation of the 3D measurement data is expensive.

From the WO 01/38900 A1 and the DE 198 30 265 A1 is the use of a laser scanner to determine a spout in a metallurgical vessel.

Light grids with measuring beams perpendicular to one another and light curtains with only one row of measuring beams for the detection of objects are out US 5 281 809 A . EP 0 978 735 A2 and EP 1 391 752 A2 known. The light grids or light curtains are used as safety systems that switch off an engine when an object enters, for example. How the light grids or curtains can be used for determining the position is not apparent from these writings.

From the DE 196 06 524 A1 a measuring device with a non-contact measuring grid for determining the muscle volume on a leg or arm is known, wherein the measuring grid is formed by two rows of measuring beams, and a first row in a first transverse direction and a second row are arranged in a second transverse direction of the measuring device ; and each measuring beam is associated with a measuring beam generation detection device for generating and detecting the measuring beam, which is connected to a movable outer frame of the measuring device. As with the measuring device, an automatic position detection of a spout of a metallurgical vessel can be performed, does not emerge from the Scriptures.

• rasch, d.h. innerhalb einen kurzen Zeit für die Messung und Auswertung,
• mit möglichst einfachen Mitteln,
• ohne eine aufwändige Auswertung, und
• mit hoher Genauigkeit

bestimmt werden kann.The object of the invention is to overcome the disadvantages of the prior art and to provide a method for automatically detecting the position of a spout of a metallurgical vessel, with which the position of the spout

• quickly, ie within a short time for the measurement and evaluation,
• with the simplest possible means,
• without a costly evaluation, and
• with high accuracy

can be determined.

Summary of the invention

1. a) Positionieren des Messgeräts senkrecht unterhalb des Ausgusses, sodass der Ausguss weder das Messgerät berührt noch das Messgitter schneidet;
2. b) Verfahren des Messgeräts senkrecht nach oben in eine erste Position;
3. c) Berührungsloses Detektieren der IST-Lage des Ausgusses durch das Auswerten von Messdaten für das örtlich diskretisierte Messgitter des Messgeräts, wobei die Messdaten zumindest mehrere x-Messwerte, die einer ersten Querrichtung des Messgitters zugeordnet sind, und mehrere y-Messwerte, die einer zweiten Querrichtung des Messgitters zugeordnet sind, umfassen und ein Messwert genau einem Messstrahl des Messgitters zugeordnet ist, sodass mittels der x-Messwerte die IST-Lage des Ausgusses bei der ersten Position in einer ersten Querrichtung des Ausgusses, und mittels der y-Messwerte die IST-Lage des Ausgusses bei der ersten Position in einer zweiten Querrichtung des Ausgusses, die orthogonal zur ersten Querrichtung des Ausgusses steht, aufgelöst wird.

This object is achieved by the aforementioned method with the following method steps:

1. a) Position the meter vertically below the spout so that the spout does not touch the meter or cut the metering grid;
2. b) moving the meter vertically upwards to a first position;
3. c) Contactless detection of the actual position of the spout by the evaluation of measured data for the locally discretized measuring grid of the measuring device, wherein the measured data at least a plurality of x-measured values, which are associated with a first transverse direction of the measuring grid, and a plurality of y-measured values, a second Are associated with the transverse direction of the measuring grid, and a measured value is assigned to exactly one measuring beam of the measuring grid, so that by means of the x-measured values the actual position of the spout at the first position in a first transverse direction of the spout, and by means of the y-measured values the actual position of the spout Location of the Spout at the first position in a second transverse direction of the spout, which is orthogonal to the first transverse direction of the spout is dissolved.

First, the meter is positioned below the spout of the metallurgical vessel, wherein the spout can be closed or opened by, for example, a spool or plug closure so that the spout neither touches the meter nor penetrates the metering grid inside the meter (step a). Subsequently, the measuring device is moved vertically upwards into a first position (step b), preferably at least until the spout penetrates the measuring grid of the measuring device for the first time. Subsequently, the actual position of the spout is detected without contact by means of the measuring grid, wherein the measuring grid is formed by at least two, orthogonally successive, rows of measuring beams. In the detection of the actual position of the spout, measured data are evaluated, the measured data comprising at least a plurality of x-measured values and a plurality of y-measured values, the x-measured values of a first transverse direction of the measuring grid and the y-measured values of a second transverse direction of the measuring grid. Since each measured value corresponds exactly to a measuring beam of the measuring grid, the actual position of the spout at the first position can be determined by means of the x-measured values on the actual position of the spout at the first position in a first transverse direction of the spout and by means of the y-measured values be deduced in a second transverse direction of the spout, wherein the first transverse direction of the spout is orthogonal to the second transverse direction of the spout.

1. a) Positionieren des Messgeräts senkrecht unterhalb des Ausgusses, sodass der Ausguss weder das Messgerät berührt noch den Messvorhang schneidet;
2. b) Verfahren des Messgeräts senkrecht nach oben in eine erste Position;
3. c) Berührungslose Detektion einer ersten Komponente der IST-Lage des Ausgusses durch das Auswerten von Messdaten für den planaren, örtlich diskretisierten Messvorhang, wobei die Messdaten mehrere Messwerte umfassen, die einer ersten Querrichtung des Messvorhangs zugeordnet sind, und ein Messwert genau einem Messstrahl des Messvorhangs zugeordnet ist, sodass mittels der Messwerte die IST-Lage des Ausgusses bei der ersten Position in einer ersten Querrichtung des Ausgusses aufgelöst wird;
4. d) Verschwenken des Messgeräts in einer Normalebene zur Längsachse des Ausgusses um einen Winkel α, vorzugsweise um 90°;
5. e) Berührungslose Detektion einer zweiten Komponente der IST-Lage des Ausgusses durch das Auswerten von Messdaten für den planaren, örtlich diskretisierten Messvorhang, wobei die Messdaten mehrere Messwerte umfassen, die der Querrichtung des Messvorhangs zugeordnet sind, und ein Messwert genau einem Messstrahl des Messvorhangs zugeordnet ist, sodass mittels der Messwerte die IST-Lage des Ausgusses bei der ersten Position in einer zweiten Querrichtung des Ausgusses aufgelöst wird.

The above object is also achieved by the method mentioned above with the following method steps:

1. a) Position the meter vertically below the spout so that the spout does not touch the meter or cut the meter curtain;
2. b) moving the meter vertically upwards to a first position;
3. c) Non-contact detection of a first component of the actual position of the spout by evaluating measured data for the planar, locally discretized measuring curtain, wherein the measured data comprises a plurality of measured values associated with a first transverse direction of the measuring curtain and a measured value exactly one measuring beam of the measuring curtain is assigned, so that by means of the measured values, the actual position of the spout at the first position in a first transverse direction of the spout is resolved;
4. d) pivoting of the measuring device in a normal plane to the longitudinal axis of the spout by an angle α, preferably by 90 °;
5. e) Non-contact detection of a second component of the actual position of the spout by evaluating measured data for the planar, locally discretized measuring curtain, the measured data comprising a plurality of measured values associated with the transverse direction of the measuring curtain, and a measured value associated with exactly one measuring beam of the measuring curtain is such that by means of the measured values, the actual position of the spout at the first position in a second transverse direction of the spout is resolved.

In contrast to the first-mentioned solution, this solution does not use a two-dimensional measuring grid but only a one-dimensional measuring curtain, so that only the position of the spout in a transverse direction can be determined during a detection. After the first detection (step c), the measuring device is pivoted in a normal plane to the longitudinal axis of the spout by an angle α, preferably by 90 ° (step d) and then the detection is repeated again (step e), so that the position of the spout in the first and the second transverse direction of the spout is completely determined.

1. i) Positionieren des Messgeräts im Wesentlichen senkrecht unterhalb des Ausgusses, sodass der Ausguss weder das Messgerät berührt noch den Messvorhang schneidet;
2. ii) Verfahren des Messgeräts im Wesentlichen senkrecht nach oben in eine erste Position;
3. iii) Berührungslose Detektion einer ersten Komponente der IST-Lage des Ausgusses durch das Auswerten von Messdaten für den planaren, örtlich diskretisierten Messvorhang, wobei die Messdaten mehrere Messwerte umfassen, die einer Querrichtung des Messvorhangs zugeordnet sind, und ein Messwert genau einem Messstrahl des Messvorhangs zugeordnet ist, sodass mittels der Messwerte die IST-Lage des Ausgusses bei der ersten Position in einer ersten Querrichtung des Ausgusses aufgelöst wird;
4. iv) Verfahren des Messgeräts im Wesentlichen senkrecht nach unten, sodass der Ausguss weder das Messgerät berührt noch den Messvorhang schneidet;
5. v) Verschwenken des Messgeräts in einer Normalebene zur Längsachse des Ausgusses um einen Winkel α, vorzugsweise um 90°;
6. vi) Verfahren des Messgeräts im Wesentlichen senkrecht nach oben in die erste Position;
7. vii) Berührungslose Detektion einer zweiten Komponente der IST-Lage des Ausgusses durch das Auswerten von Messdaten für den planaren, örtlich diskretisierten Messvorhang, wobei die Messdaten mehrere Messwerte umfassen, die der Querrichtung des Messvorhangs zugeordnet sind, und ein Messwert genau einem Messstrahl des Messvorhangs zugeordnet ist, sodass mittels der Messwerte die IST-Lage des Ausgusses bei der ersten Position in einer zweiten Querrichtung des Ausgusses aufgelöst wird.

According to an expedient embodiment, the following method steps are carried out:

1. i) positioning the meter substantially vertically below the spout so that the spout neither touches the meter nor cuts the metering curtain;
2. ii) moving the measuring instrument substantially vertically upwards to a first position;
3. iii) Non-contact detection of a first component of the actual position of the spout by the evaluation of measured data for the planar, locally discretized measuring curtain, wherein the measured data comprises a plurality of measured values, which are associated with a transverse direction of the measuring curtain, and a measured value assigned to exactly one measuring beam of the measuring curtain is such that by means of the measured values, the actual position of the spout at the first position in a first transverse direction of the spout is resolved;
4. (iv) moving the instrument substantially vertically downwards so that the spout neither touches the instrument nor cuts the measuring curtain;
5. v) pivoting of the measuring device in a normal plane to the longitudinal axis of the spout by an angle α, preferably by 90 °;
6. vi) moving the measuring device substantially vertically upwards to the first position;
7. vii) Non-contact detection of a second component of the actual position of the spout by the evaluation of measured data for the planar, locally discretized measuring curtain, wherein the measured data comprises a plurality of measured values, which are associated with the transverse direction of the measuring curtain, and a measured value assigned to exactly one measuring beam of the measuring curtain is such that by means of the measured values, the actual position of the spout at the first position in a second transverse direction of the spout is resolved.

By means of the latter embodiment, the pivoting of the measuring device is particularly easy.

According to an advantageous embodiment, the measuring device moves after the step c by a travel distance Δ in a second position vertically upwards and Subsequently, the step c is performed again, wherein the position of the spout is detected at the second position. If the steps according to this embodiment are carried out several times in succession, the position of the spout is detected discretely or continuously over the travel path of the measuring device.

According to an advantageous embodiment, the positioning and method of the measuring device is performed by a multi-axis robot. After the detection of the position of the spout, the closure of the spout of the metallurgical vessel can be opened or closed by the multi-axis robot, possibly after a tool change.

According to a further advantageous embodiment, the measuring device continuously detects the actual position of the spout during the method.

Alternatively, the meter is stopped before step c so that step c is performed in the stopped state.

According to a further advantageous embodiment, the detected in step c actual position of the spout is fed to a control device, this calculates a deviation of a target position of the spout (10) from the actual position and determined using an algorithm a manipulated variable, whereby the Actual position of the multifunction robot loaded with the manipulated variable is positioned closer to the target position. By means of this embodiment it is ensured that the measuring device follows the contours of the spout, so that on the one hand complicated geometries of the spout are detectable and on the other hand a collision of the spout with the measuring device is reliably avoided.

According to an expedient embodiment, the measuring beam is as an uninterrupted, for example pulsed, or interrupted light beam, in particular in the region of Infrared, visible light or ultraviolet light formed.

• das Messgerät mittels eines Halters von einem mehrachsigen Multifunktions-Roboter verfahrbar ausgebildet ist und ein örtlich diskretisiertes Messgitter aufweist;
• das Messgitter durch zwei Reihen von Messstrahlen gebildet wird, wobei eine erste Reihe in einer ersten Querrichtung und eine zweite Reihe in einer zweiten Querrichtung des Messgeräts angeordnet sind; und
• jedem Messstrahl eine Messstrahl-Erzeugungs-Detektionseinrichtung zur Erzeugung und Detektion des Messstrahls zugeordnet ist, die mit einem verfahrbaren Außenrahmen des Messgeräts verbunden ist.

Implementation of the former method as directly as possible is possible if, in the case of a measuring device with a non-contact measuring grid for the automatic position detection of a spout of a metallurgical vessel, in particular a converter, a ladle or a casting distributor

• the measuring device is movable by means of a holder of a multi-axis multi-function robot and has a locally discretized measuring grid;
• the measuring grid is formed by two rows of measuring beams, a first row being arranged in a first transverse direction and a second row being arranged in a second transverse direction of the measuring instrument; and
• each measuring beam is associated with a measuring beam generation detection device for generating and detecting the measuring beam, which is connected to a movable outer frame of the measuring device.

In this case, it does not matter whether the measuring beams of the first and the second transverse direction of the measuring grid are arranged in one plane, or if these have a small offset, if appropriate.

• das Messgerät mittels eines Halters von einem mehrachsigen Multifunktions-Roboter verfahrbar ausgebildet ist und einen örtlich diskretisierten, planaren Messvorhang aufweist;
• der Messvorhang durch eine Reihe von Messstrahlen gebildet wird, wobei die Reihe in einer ersten Querrichtung des Messgeräts angeordnet ist; und
• jedem Messstrahl eine Messstrahl-Erzeugungs-Detektionseinrichtung zur Erzeugung und Detektion des Messstrahls zugeordnet ist, die mit einem verfahrbaren Außenrahmen des Messgeräts verbunden ist.

The most direct implementation of the second-mentioned method is possible if in a measuring device with a non-contact measuring curtain for automatic position detection of a spout of a metallurgical vessel, in particular a converter, a pan or a Gießverteilers

• the measuring device is movable by means of a holder of a multi-axis multi-function robot and has a locally discretized, planar measuring curtain;
• the measuring curtain is formed by a series of measuring beams, the row being arranged in a first transverse direction of the measuring device; and
• each measuring beam is associated with a measuring beam generation detection device for generating and detecting the measuring beam, which is connected to a movable outer frame of the measuring device.

According to a simple embodiment, a measuring beam generation detection device is designed as a one-way light barrier, wherein the one-way light barrier comprises a transmitter and an opposite receiver.

According to a further embodiment, a measuring beam generation detection device is designed as a reflex light barrier, and the reflex light barrier comprises a transmitter-receiver and an opposing reflector, wherein preferably a transmitter and a receiver are formed in a common housing as a transmitter-receiver ,

In yet another embodiment, a measurement beam generation detection device includes a light source for generating a light band and an opposing line scan camera.

According to an expedient embodiment, the transmitter is designed as an infrared diode, light-emitting diode or as a laser diode and the receiver is designed as a phototransistor.

In a transceiver, a transmitter and a receiver are formed in a common housing. Of course, it is also possible that several transmitters and receivers are housed in a common housing.

Brief description of the drawings

• Fig 1 (Fig 1A und 1B) eine Darstellung eines Messgerätes mit einem Messgitter in zwei Rissen,
• Fig 2 (Fig 2A und 2B) eine Darstellung eines Messgerätes mit einem Messvorhang in zwei Rissen,
• Fig 3 eine Darstellung der Verfahrensschritte bei der Detektion der Lage eines Ausgusses mittels eines Messgeräts mit einem Messgitter,
• Fig 4 eine Darstellung eines Messgitters, das von einem Ausguss geschnitten wird, und
• Fig 5 (Fig 5A und 5B) zwei Darstellungen eines Messvorhangs, das von einem Ausguss geschnitten wird.

Further advantages and features of the present invention will become apparent from the following description of non-limiting embodiments, reference being made to the following figures, which show the following:

• FIG. 1 (FIGS. 1A and 1B ) a representation of a measuring device with a measuring grid in two cracks,
• Fig. 2 (Figs. 2A and 2B ) a representation of a measuring device with a measuring curtain in two cracks,
• Fig. 3 a representation of the method steps in the detection of the position of a spout by means of a measuring device with a measuring grid,
• Fig. 4 a representation of a measuring grid, which is cut from a spout, and
• Fig. 5 (Figs. 5A and 5B ) two representations of a measuring curtain cut from a spout.

Description of the embodiments

In the Figures 1A and 1B a measuring device 1 is shown with a non-contact measuring grid 5 for automatic position detection of a spout of a metallurgical vessel; Fig. 1A shows an outline and Fig. 1B shows a floor plan. The location of the spout is understood to mean an at least two-dimensional location of the spout, for example the indication of the location at which the longitudinal axis of the spout is located. The measuring device 1 is designed to be movable by means of the holder 4 of a multi-axis multifunction robot, so that the position along the longitudinal axis of the spout can be determined. For this purpose, the measuring device 1 on a non-contact measuring grid 5, which discretely dissolves the position of the spout in two transverse directions. The measuring grid 5 itself is formed by two rows of measuring beams 5, wherein a first row in a first transverse direction x and a second row in a second transverse directions y are arranged. For automatic position detection of the spout, each measurement beam 5 is assigned a measurement beam generation detection device. In the specific case, the measuring beam generation detection devices are designed as reflex light barriers, each measuring beam generation detection device having a transmitter-receiver 6 and an opposite reflector 7. By means of the measuring grid 3, the position of the spout with respect first and the second transverse direction of the spout to be resolved.

In the FIGS. 2A and 2B is a measuring device 1 with a likewise non-contact measuring curtain 8 for automatic position detection of a spout of a metallurgical vessel shown; Fig. 2A shows an outline and Fig. 2B shows a floor plan. The measuring curtain 8 is different to the FIGS. 1A and 1B formed only by a series of measuring beams 5, which are arranged in a first transverse direction x. By means of the measuring curtain 8, the position of the spout with respect to a first transverse direction of the spout can be resolved in a detection step.

In Fig. 3 the method steps in the automatic position detection of a spout 10 of a trained as a pan 9 metallurgical vessel by means of a measuring device 1 with a non-contact measuring grid are shown. First, the meter 1 is positioned substantially vertically below the spout 10 so that the spout 10 neither touches the meter 1 nor cuts the metering grid; Concretely, the positioned measuring device 1 on the one hand has a vertical distance to the lower end of the projection 13 of the spout 10, on the other hand aligned the intersection of the diagonal of the measuring grid approximately with the longitudinal axis 14 of the projection 13 of the spout 10. When positioning the measuring device 1 by means of a not shown multifunction robot along the trajectory 12 a method (step a). Subsequently, the measuring device 1 moves substantially along the trajectory 12b vertically upwards Z at least until the projection 13 penetrates the measuring grid (step b).

$${\mathit{Messwerte}}_y=\left(\begin{array}{cccccccccccc}1& 1& 1& 1& 0& 0& 0& 0& 0& 1& 1& 1\end{array}\right)$$

angeschrieben werden können. Somit ist aber die Lage des Ausgusses 10 innerhalb des Messgitters 3 definiert, wobei die Lage des Ausgusses 10 in der ersten Querrichtung x innerhalb des fünften bis zehnten Messstrahls und in der zweiten Querrichtung y innerhalb des vierten bis zehnten Messstrahls angegeben werden kann. Da das Messgitter 3 so wie in Fig 4 äquidistant bzgl. der ersten und der zweiten Querrichtung x,y ausgebildet ist, ist die Lage des Ausgusses 10 bzgl. des Nullpunkts N des Messgitters 3 bekannt. Konkret beträgt der Abstand zwischen zwei benachbarten Messstrahlen 5, nachfolgend als Gitterkonstante G bezeichnet, G=20mm, sodass die Lage der Längsachse des Ausgusses 10 als Vektor $$\left(\begin{array}{c}x\\ y\end{array}\right)=G\left(\begin{array}{c}\frac{5+10}{2}\\ \frac{4+10}{2}\end{array}\right)=20\left(\begin{array}{c}7.5\\ 7\end{array}\right)=\left(\begin{array}{c}150\\ 140\end{array}\right)\mathrm{mm}$$

angegeben werden kann. Da aber über die Stellung des Multifunktions-Roboters auch die Position und Ausrichtung des Halters 4 des Messgeräts bekannt ist, ist somit aber auch die Lage des Ausgusses 10 vollständig bestimmt.The process steps in the contactless detection of the position of the spout are in Fig. 4 Each transverse direction x and y of the measuring device 1 is associated with a respective row 15, 16 of twelve measuring beam generation detection devices, wherein a single measuring beam generation detection device as a reflex photoelectric sensor with a transmitter-receiver 6 and an associated reflector 7 is formed. Each transmitter-receiver 6 emits a trained as a light beam measuring beam 5, which - if the measuring beam is not interrupted - reflected by the opposite reflector 7 and thus received by the transmitter-receiver 6 again; In this first case, the transmitter-receiver 6 is assigned a digital measured value "1". If the measuring beam 5 is interrupted, the received light quantity drops below a threshold value, so that in this second case the transmitter-receiver 6 is assigned a digital measured value "0". In the specific case, four measuring beams 5, the sixth to ninth transceiver 6 from the first row 15 of measuring beam generation detection means, and five measuring beams 5, the fifth to ninth transceiver 6 from the second row 16 of measuring beam Generation means are interrupted, so that the x-measured values and the y-measured values are each as vectors $${\mathit{readings}}_x=\left(\begin{array}{cccccccccccc}1& 1& 1& 1& 1& 0& 0& 0& 0& 1& 1& 1\end{array}\right)$$

$${\mathit{readings}}_y=\left(\begin{array}{cccccccccccc}1& 1& 1& 1& 0& 0& 0& 0& 0& 1& 1& 1\end{array}\right)$$

can be written. Thus, however, the position of the spout 10 is defined within the measuring grid 3, wherein the position of the spout 10 in the first transverse direction x within the fifth to tenth measuring beam and in the second transverse direction y within the fourth to tenth measuring beam can be specified. Since the measuring grid 3 as in Fig. 4 Equidistant with respect to the first and the second transverse direction x, y is formed, the position of the spout 10 with respect to the zero point N of the measuring grating 3 is known. Specifically, the distance between two adjacent measuring beams 5, hereinafter referred to as lattice constant G, G = 20mm, so that the position of the longitudinal axis of the spout 10 as a vector $$\left(\begin{array}{c}x\\ y\end{array}\right)=\mathrm{<figure-callout\; id="5"\; label="G"\; filenames="imgf0001.png,imgf0002.png"\; state="\{\{state\}\}">G</figure-callout>}\left(\begin{array}{c}\frac{5+10}{2}\\ \frac{4+10}{2}\end{array}\right)=20\left(\begin{array}{c}7.5\\ 7\end{array}\right)=\left(\begin{array}{c}150\\ 140\end{array}\right)\mathrm{mm}$$

can be specified. However, since the position and orientation of the holder 4 of the measuring device is also known on the position of the multi-function robot, the position of the spout 10 is thus completely determined.

In order to determine the position of the spout 10 at a plurality of positions, the measuring device 1 is moved to the measuring grid after step c in a different position, for example, a process path Δ vertically upward, and then the step c repeated (see. Fig. 3 this being represented by the trajectory 12b). In this case, it does not matter whether the method of the measuring device 1 is stopped during the position determination (step c), or whether the position determination takes place continuously during the movement.

If a significant deviation of the spout 10 from the center of the measuring grid 3 is determined during the position determination, a control deviation of a desired position from an actual position of the spout 10 is calculated and a control device, not shown, which is integrated in the controller of the multi-function robot, Determines a manipulated variable with the aid of an algorithm, whereby the actual position of the multifunction robot loaded with the manipulated variable is positioned closer to the target position.

angeschrieben werden können. Somit ist aber eine erste Komponente der Lage des Ausgusses 10 innerhalb des Messvorhangs 8 definiert, wobei die Lage des Ausgusses 10 in der ersten Querrichtung x innerhalb des dritten bis achten Messstrahls angegeben werden kann.The process steps in the non-contact detection of the position of the spout 10 by means of a measuring device 1 with a measuring curtain 8 are in the Figs. 5A and 5B 1 shows a transverse direction x of the measuring device 1 associated with twelve measuring beam generation detection devices, wherein - as in Fig. 4 - A single measuring beam generation detection device is designed as a reflex light barrier with a transmitter-receiver 6 and an associated reflector 7. In Fig. 5A For example, in the first measurement, four measurement beams 5, the fourth to seventh transmitter-receivers 6 of measurement beam generation detection means, are interrupted by the spout 10, so that the measurement values are considered as a vector $$\mathit{readings}=\left(\begin{array}{cccccccccccc}1& 1& 1& 0& 0& 0& 0& 1& 1& 1& 1& 1\end{array}\right)$$

can be written. Thus, however, a first component of the position of the spout 10 is defined within the measuring curtain 8, wherein the position of the spout 10 in the first transverse direction x within the third to eighth measurement beam can be specified.

Subsequently, the measuring device is pivoted by 90 °, wherein the pivoted state in Fig. 5B is shown.

angeschrieben werden können. Somit ist aber auch eine zweite Komponente der Lage des Ausgusses 10 innerhalb des Messvorhangs 8 definiert, wobei die Lage des Ausgusses 10 in der zweiten Querrichtung x innerhalb des vierten bis zehnten Messstrahls angegeben werden kann.The measurement is then repeated, again with the measurements as a vector $$\mathit{readings}=\left(\begin{array}{cccccccccccc}1& 1& 1& 1& 0& 0& 0& 0& 0& 1& 1& 1\end{array}\right)$$

can be written. Thus, however, a second component of the position of the spout 10 is defined within the measuring curtain 8, wherein the position of the spout 10 in the second transverse direction x can be specified within the fourth to tenth measuring beam.

angegeben werden kann. Da aber über die Stellung des Multifunktions-Roboters auch die Position und Ausrichtung des Halters 4 des Messgeräts bekannt ist, ist somit aber auch die Lage des Ausgusses 10 vollständig bestimmt. Liste der Bezugszeichen 1 Messgerät 2 Außenrahmen 3 Messgitter 4 Halter 5 Messstrahl 6 Sender-Empfänger 7 Reflektor 8 Messvorhang 9 Pfanne 10 Ausguss 12a, 12b Trajektorie Messgerät 13 Ansatz 14 Längsachse 15 erste Reihe 16 zweite Reihe α Winkel x erste Querrichtung des Messgeräts y zweite Querrichtung des Messgeräts x erste Querrichtung des Ausgusses Y zweite Querrichtung des Ausgusses Z Längsrichtung des Ausgusses N Nullpunkt Since the measuring curtain 8 in Figs. 5A and 5B Equidistant with respect to the first transverse direction x is formed, the position of the spout 10 with respect to the zero point N of the measuring curtain 8 is known. Specifically, the distance between two adjacent measuring beams 5, hereinafter again referred to as lattice constant G, G = 20mm, so that the position of the longitudinal axis of the spout 10 as a vector $$\left(\begin{array}{c}x\\ y\end{array}\right)=\mathrm{<figure-callout\; id="3"\; label="G"\; filenames="imgf0001.png,imgf0004.png"\; state="\{\{state\}\}">G</figure-callout>}\left(\begin{array}{c}\frac{3+\mathrm{<figure-callout\; id="2"\; label="8th"\; filenames="imgf0004.png"\; state="\{\{state\}\}">8th</figure-callout>}}{2}\\ \frac{4+10}{2}\end{array}\right)=20\left(\begin{array}{c}5.5\\ 7\end{array}\right)=\left(\begin{array}{c}110\\ 140\end{array}\right)\mathrm{mm}$$

can be specified. However, since the position and orientation of the holder 4 of the measuring device is also known on the position of the multi-function robot, the position of the spout 10 is thus completely determined. List of reference numbers 1 gauge 2 outer frame 3 measuring grid 4 holder 5 measuring beam 6 Transmitter-receiver 7 reflector 8th measuring curtain 9 pan 10 spout 12a, 12b Trajectory measuring device 13 approach 14 longitudinal axis 15 first row 16 second row α angle x first transverse direction of the measuring device y second transverse direction of the measuring device x first transverse direction of the spout Y second transverse direction of the spout Z Longitudinal direction of the spout N zero

Claims (7)

1. Method for automatically detecting the position of a spout (10) of a metallurgical container, in particular a converter, a pan (9) or a tundish, by means of a measuring device (1) with a contactlessly operating measuring grid (3), having the following method steps of:

   a) positioning (12a) the measuring device (1) vertically beneath the spout (10), with the result that the spout (10) neither touches the measuring device (1) nor intersects the measuring grid (3);

   b) moving (12b) the measuring device (1) substantially vertically upwards (Z) into a first position;

   c) contactlessly detecting the actual position of the spout (10) by evaluating measurement data for the locally discretized measuring grid (3) of the measuring device (1), the measurement data comprising at least a plurality of x measured values, which are assigned to a first transverse direction (x) of the measuring grid, and a plurality of y measured values, which are assigned to a second transverse direction (y) of the measuring grid, and one measured value being assigned to precisely one measuring beam (5) of the measuring grid (3), with the result that the actual position of the spout (10) in the first position in a first transverse direction (X) of the spout (10) is resolved using the x measured values, and the actual position of the spout (10) in the first position in a second transverse direction (Y) of the spout (10), which is orthogonal to the first transverse direction (X) of the spout (10), is resolved using the y measured values.
2. Method for automatically detecting the position of a spout (10) of a metallurgical container, in particular a converter, a pan (9) or a tundish, by means of a measuring device (1) with a contactlessly operating measuring curtain (8), having the following method steps of:

   a) positioning (12a) the measuring device (1) vertically beneath the spout (10), with the result that the spout (10) neither touches the measuring device (1) nor intersects the measuring curtain (8);

   b) moving (12b) the measuring device (1) vertically upwards (Z) into a first position;

   c) contactlessly detecting a first component of the actual position of the spout (10) by evaluating measurement data for the planar, locally discretized measuring curtain (8), the measurement data comprising a plurality of measured values, which are assigned to a first transverse direction (x) of the measuring curtain (8), and one measured value being assigned to precisely one measuring beam (5) of the measuring curtain (8), with the result that the actual position of the spout (10) in the first position in a first transverse direction (X) of the spout (10) is resolved using the measured values;

   d) pivoting the measuring device (1) in a normal plane with respect to the longitudinal axis (Z) of the spout (10) through an angle (α), preferably 90°;

   e) contactlessly detecting a second component of the actual position of the spout (10) by evaluating measurement data for the planar, locally discretized measuring curtain (8), the measurement data comprising a plurality of measured values, which are assigned to the transverse direction (x) of the measuring curtain (8), and one measured value being assigned to precisely one measuring beam (5) of the measuring curtain (8), with the result that the actual position of the spout (10) in the first position in a second transverse direction (Y) of the spout (10) is resolved using the measured values.
3. Method according to either of Claims 1 and 2, characterized in that the measuring device (1) is moved vertically upwards (Z) by a movement distance (Δ) into a second position after step c, and step c is then carried out again, the position of the spout (10) at the second position being detected.
4. Method according to one of Claims 1 to 3, characterized in that the measuring device (1) is positioned and moved by a multi-axis robot.
5. Method according to one of Claims 1 to 4, characterized in that the measuring device (1) continuously detects the actual position of the spout (10) during movement.
6. Method according to one of Claims 1 to 4, characterized in that the measuring device (10) is stopped before step c.
7. Method according to one of Claims 1 to 6, characterized in that the measuring beam (5) is in the form of an uninterrupted or interrupted light beam, in particular in the range of infrared, visible light or ultraviolet light.

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