JP2023011210A - Cast slab tracking method and device - Google Patents

Abstract

To automatically and accurately detect a tracking error of a cast slab.SOLUTION: A cast slab tracking method cuts a continuously-casted strand into a plurality of cast slabs, and detects a position of each of the plurality of cast slabs when convening the plurality of cut cast slabs by a conveyance facility. The cast slab tracking method comprises: a first tracking step of acquiring the position of the cast slab detected by a cast slab detection sensor installed in the conveyance facility as the first tracking information; a second tracking step of acquiring the position of the cast slab detected by analysis of the image obtained by imaging the conveyance facility as the second tracking information; and a collation step of collating the first tracking information with the second tracking information.SELECTED DRAWING: Figure 1

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cast slab tracking method and apparatus for tracking the position of a cast slab being transported by transport equipment.

A plurality of slabs manufactured by continuous casting are transported to their designated target positions by transport equipment. Conventionally, various methods have been proposed as methods for tracking slabs (see Patent Document 1, for example). In Patent Document 1, a slab detection sensor for detecting the presence or absence of a slab is installed at the front end or the rear end of each transfer table. When the slab detection sensor detects the slab, it is detected that the slab is present at the installation location of the transfer table, and tracking of the slab is performed. Furthermore, a plurality of cameras and the like are installed at positions for capturing images of each device in the process and the steel materials on the line, and a tracking screen showing the operation status of each piece of equipment is displayed on the display. Then, the operation operator monitors whether each product is correctly conveyed based on the imaged image.

JP 2012-221460 A

In Patent Document 1, a tracking error may occur in which the tracking information differs from the actual slab position. In this case, the operation operator constantly monitors the tracking screen, and if the tracking information and the display contents of the tracking screen are different, he performs an operation so that the situation becomes the same as the actual situation of the tracking target. However, an excessive load is placed on the operation operator, and tracking errors may be overlooked.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a cast piece tracking method and apparatus capable of automatically and accurately detecting a cast piece tracking error.

[1] A slab tracking method for cutting a continuously cast strand into a plurality of slabs and detecting the positions of each of the plurality of slabs when transporting the plurality of cut slabs with a transport facility, comprising:
a first tracking step of acquiring, as first tracking information, the position of the cast piece detected by a cast piece detection sensor installed in the conveying equipment;
a second tracking step of acquiring, as second tracking information, the position of the cast slab detected by analyzing an image of the conveying equipment;
a matching step of matching the first tracking information and the second tracking information;
A method for tracking a slab having
[2] The second tracking step of setting an analysis region for analyzing the presence or absence of the slab within the image, and determining whether or not the slab exists within the analysis region. A method of tracking slabs.
[3] In the matching step, if the first tracking information and the second tracking information do not match, the casting according to [1] or [2], wherein the first tracking information is corrected to the second tracking information Piece tracking method.
[4] In the first tracking step, the first tracking information is generated by combining the slab identification information given to the slab in order of strand cutting and the position of the slab [1] to [3]. ] The slab tracking method according to any one of the above items.
[5] In the second tracking step, the second tracking information is generated by combining the slab identification information given to the slab in the order of cutting the strands and the position of the slab [1] to [4]. ] The slab tracking method according to any one of the above items.
[6] The second tracking step has a function of recognizing dummy bars appearing in the image at the start of casting in the second tracking step,
After recognizing the dummy bar, slab identification information is given in the order in which the slab is conveyed, and the second tracking information is generated by combining the slab identification information and the position of the slab [1] to [ 4].
[7] In the second tracking step, two or more images are divided and acquired in the transport direction in the transport equipment, and each of the images is analyzed,
When the second tracking information is generated from the analysis of the plurality of images, the slab identification information is inherited as the slab is moved from the upstream side to the downstream side of the conveying facility [5] or [6]. The slab tracking method described in .
[8] A slab tracking device for cutting a continuously cast strand into a plurality of slabs and detecting the positions of the plurality of slabs when transporting the plurality of cut slabs by a transport facility,
a first tracking device that acquires, as first tracking information, the position of the cast piece detected by a cast piece detection sensor installed in the conveying equipment;
a second tracking device that acquires, as second tracking information, the position of the cast slab detected by analyzing an image of the conveying equipment;
a matching device for matching the first tracking information and the second tracking information;
A slab tracking device having a

According to the present invention, the tracking error is detected by collating the first tracking information of the cast slab obtained by the slab detection sensor and the second tracking information of the slab obtained by the image analysis. As a result, it is possible to automatically detect a tracking abnormality due to an erroneous detection of the presence or absence of a slab on the transfer table, discrepancy in tracking information, or the like.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic diagram showing an example of a continuous casting facility to which the slab tracking device of the present invention is applied; 1 is a functional block diagram showing a preferred embodiment of a cast piece tracking device of the present invention; FIG. FIG. 5 is a schematic diagram showing how the torch tilting means tilts the cutting torch. FIG. 4 is a schematic diagram showing an example of a case in which poor cutting of a slab occurs. FIG. 4 is a schematic diagram showing an example of a case in which poor cutting of a slab occurs. It is a schematic diagram which shows a mode that two slabs are conveyed. FIG. 4 is a schematic diagram showing an example of a continuous casting facility to which another embodiment of the slab tracking device of the present invention is applied.

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic diagram showing an example of continuous casting equipment to which the slab tracking device of the present invention is applied. Continuous casting equipment 1 in FIG. and a conveying facility 4 for conveying the cut slab S. The continuous casting machine 2 manufactures a strand by pulling out a slab from a mold while cooling it with pinch rollers. The cutting device 3 is, for example, a gas cutter, and cuts the strand to a predetermined length with a cutting torch.

The transport facility 4 transports the strand S0 and the cut slab (slab, bloom or billet) S to a target position, and has a plurality of transport tables 4A to 4E. Each transport table 4A to 4E has a structure in which, for example, a roll shaft is connected to a driving device such as a motor through a sprocket and a chain. The operations of the plurality of transport tables 4A to 4E are controlled by a transport control device 22 shown in FIG. 2, which will be described later.

It is necessary to track the position of the cut slab S during transport until it is transported to the target position. Therefore, the continuous casting facility 1 is provided with a slab tracking device 10 for tracking the slab being transported. FIG. 2 is a functional block diagram showing a preferred embodiment of the cast piece tracking device of the present invention. The slab tracking device 10 of FIG. 2 includes a first tracking device 20 that generates first tracking information based on the detection results of the slab detection sensors 21A to 21D, and images captured by the imaging devices 31A and 31B. and a second tracking device 30 for generating second tracking information TN2.

The first tracking device 20 generates and conveys first tracking information TN1 using a plurality of cast strip detection sensors 21A to 21D installed in the transport equipment 4 and the detection results of the plurality of cast strip detection sensors 21A to 21D. and a transport control device 22 that controls the operation of the equipment 4 . A plurality of slab detection sensors 21A to 21D are installed on the entry sides of the transfer tables 4A to 4E, respectively, and detect whether or not slabs are present on the transfer tables 4A to 4E. Since the transfer tables 4B to 4D are located between the slab detection sensors 21A to 21D, the slab detection sensors 21A to 21D are installed on the entrance side and the exit side. Regardless of the method used to detect the presence or absence of slabs, for example, a method of detecting the presence or absence of slabs by turning on/off the passage of light, a method of detecting the presence or absence of slabs by magnetism, etc. can be used. can be done. Further, the installation positions of the respective cast piece detection sensors 21A to 21D are not limited to the positions described above, and a plurality of them may be installed between the transfer tables 4A to 4E.

The transport control device 22 operates the transport equipment 4 based on the cutting completion signal sent from the cutting device 3 and causes the transport equipment 4 to sequentially transport the cut slabs. Although the case where the transport control device 22 generates the first tracking information TN1 is illustrated, an information generating device that generates the first tracking information may be provided as a configuration separate from the transport control device 22. .

The transport control device 22 gives slab identification information to the slab in the order cut by the cutting device 3, and generates first tracking information TN1 including the slab identification information and the position of the slab. Specifically, when receiving the cutting completion signal, the transfer control device 22 assigns slab identification information 1, 2, 3, . For ease of explanation, the case where the slab identification information consists of serial numbers is exemplified.

For example, when the slab detection sensor 21A detects the previous slab S1, the transport control device 22 detects the first tracking information that the slab S1 with the slab identification information "1" exists at the position of the transport table 4B. Generate TN1. Further, when the slab S1 is transported and the slab detection sensor 21B detects the slab S1, the transport control device 22 determines that the slab S1 with the slab identification information "1" exists at the position on the transport table 4C. , and updates the first tracking information TN1 of the slab S1. Further, when the next slab S2 is transported and the slab detection sensor 21A detects the slab S2 secondly, the transport control device 22 detects that the slab S2 with the slab identification information "2" is on the transport table 4B. Generating first tracking information TN1 that it is present at the position. In this manner, the first tracking information TN1 is generated for each of the slabs S1 and S2. Similarly, the transport control device 22 generates and generates first tracking information TN1 by combining the position information of the transport table on which the strand is positioned and the strand identification information according to the order of detection by the strand detection sensors 21B to 21D. Update.

The transport control device 22 controls the operation of the transport equipment 4 based on the detection results of the plurality of cast piece detection sensors 21A to 21D. For example, as shown in FIG. 1, when the slab S2 is cut by the cutting device and conveyed to the second conveying table 4B, the slab detection sensor 21A detects the slab S2 and detects that it has been carried into the conveying table 4B. .

Next, when the second transfer table 4B transfers the slab S2 to the third transfer table 4C, the transfer control device 22 confirms whether or not the previous slab S1 exists on the third transfer table 4C. When the preceding cast strip S1 exists on the third transport table 4C, the transport control device 22 controls the cast strip S2 to stop on the second transport table 4B. On the other hand, when the slab S1 passes through the detection range of the slab detection sensor 21C, the slab detection sensor 21C installed on the entry side of the fourth transfer table 4D is turned off from ON, and the fourth slab S1 Assume that the transportation to the transportation table 4D is completed. At this time, the transfer control device 22 recognizes that the third transfer table 4C is empty, and controls to transfer the slab S2 from the second transfer table 4B to the third transfer table 4C. Such transport control is performed based on the first tracking information TN1 described above.

The second tracking device 30 in FIG. 2 includes imaging devices 31A and 31B that capture images of the slab transported by the transport equipment 4, and analyzes the images acquired by the imaging devices 31A and 31B to identify the position of the slab. and an image analysis unit 32 . The second tracking device 30 generates second tracking information TN2 based on the images acquired by the imaging devices 31A and 31B. In FIGS. 1 and 2, two imaging devices 31A and 31B divide the imaging area of the conveying equipment 4 and take an image. Then, the imaging device 31A images the conveying tables 4A to 4C, and the imaging device 31B images the conveying tables 4D and 4E. Note that the number of imaging devices is not limited to two, and may be three or more, or one imaging device may zoom or swing to image the entire transportation facility. Also, the imaging devices 31A and 31B may be monitoring cameras provided for confirming whether the transportation equipment is operating normally.

The imaging devices 31A and 31B acquire images by continuously or intermittently imaging the slab. The image may be a moving image or a still image. FIG. 3 is a schematic diagram showing an example of an image acquired by the imaging device of FIGS. 1 and 2. FIG. As shown in FIG. 3, the imaging device 31B acquires images captured by the transport tables 4D and 4E in one image.

The image analysis unit 32 is composed of hardware resources such as a computer, analyzes the images acquired by the imaging devices 31A and 31B, and outputs the position of the cast piece S as second tracking information TN2. For example, in an image P as shown in FIG. 3, the image analysis unit 32 presets the areas of the transport tables 4D and 4E in the image P as analysis areas. The image analysis unit 32 determines whether or not the slab S exists within the transport tables 4D and 4E by determining whether or not the slab S exists within the analysis area. Various known techniques can be used to identify the slab S.

When the image analysis unit 32 of FIG. 2 recognizes the cast strip S in the analysis area corresponding to the fourth transport table 4D, it generates second tracking information TN2 indicating that the cast strip S exists on the transport table 4D. Similarly, the image analysis unit 32 generates second tracking information TN2 indicating that the slab exists on the transport tables 4A to 4E when the slab S is positioned in the analysis area corresponding to the transport tables 4A to 4E.

The collation device 40 collates the first tracking information and the second tracking information, and is composed of hardware resources such as a computer. The matching device 40 may be configured by the same computer or the like as the image analyzing section 32 or the transport control device 22, or may be configured by a separate computer or the like. The collation device 40 collates whether or not the positions of the cast slab in the first tracking information TN1 and the second tracking information TN2 match. If both match, it is determined that both the first tracking information TN1 and the second tracking information TN2 are correct.

On the other hand, when the first tracking information TN1 and the second tracking information TN2 do not match, the matching device 40 identifies that the second tracking information TN2 is correct information, and the first tracking information TN1 of the transport control device 22 is Fixed. Then, the transport control device 22 controls the operation of the transport facility 4 using the corrected first tracking information TN1. As a result, even if a tracking error occurs in the first tracking information TN1, the operation can be continued using the second tracking information.

Although the case where the first tracking information TN1 is automatically corrected to the second tracking information TN2 is exemplified, it simply shows that there is a discrepancy between the first tracking information TN1 and the second tracking information TN2. An abnormal signal may be output. Also, the timing of matching in the matching device 40 can be set as appropriate. For example, when the first tracking information is generated or updated, it may be obtained and collated with the second tracking information. Alternatively, the second tracking information may be generated constantly, and the first tracking information TN1 and the second tracking information TN2 may always be collated.

A preferred embodiment of the casting slab tracking method of the present invention will be described with reference to FIGS. 1 to 3. FIG. First, in the transfer control device 22 of the first tracking device 20, strip identification information is given to the strip S in the order in which the strand S0 is cut by the cutting device 3 with a serial number. After that, the slab S is transported by the transport equipment 4 and detected by the slab detection sensors 21A to 21D, thereby detecting the information of the transport tables 4A to 4D placed as the position information of each slab. be. Then, the first tracking information TN1 is generated by combining the slab identification information and the slab position information, and is sent to the matching device 40 (first tracking step).

In the second tracking device 30, the imaging devices 31A and 31B acquire the image P by imaging each of the conveying tables 4A to 4E indicated by the first tracking information TN1. The image P is analyzed by the image analysis unit 32 to generate second tracking information indicating the presence or absence of the slab S on the transfer tables 4A to 4E and send it to the matching device 40 (second tracking step).

In the collating device 40, the first tracking information and the second tracking information are collated, and it is determined whether there is any abnormality in the first tracking information (collation step). When the first tracking information and the second tracking information do not match, the first tracking information is corrected assuming that the second tracking information is correct. Control.

According to the above embodiment, the first tracking information TN1 of the cast piece based on the cast piece detection sensors 21A to 21D and the second tracking information TN2 based on the imaging by the imaging devices 31A and 31B are acquired, and the first tracking information The position of the slab is tracked based on TN1 and second tracking information TN2. As a result, tracking errors such as erroneous detection of the presence or absence of the slab S on the transfer tables 4A to 4D can be automatically and precisely detected.

For example, when the slab detection sensor malfunctions or breaks down, the slab tracking information may move to a transport table different from the transport table on which the actual slab exists. Specifically, although the slab S2 does not actually pass through the entrance side of the conveying table 4C, the second slab detection sensor 4C erroneously detects and recognizes that the slab S2 has moved to the conveying table 4C. Sometimes. As a result, a discrepancy occurs between the actual position of the slab S2 and the tracking information. Such malfunctions may be caused by water vapor or dust as well as malfunction of the slab detection sensor.

Further, when the cutting device 3 fails to cut the cast slab, a discrepancy occurs between the actual position of the cast slab S2 and the tracking information. FIG.4 and FIG.5 is a schematic diagram which shows an example when the cut|disconnection defect of a billet arises. When the slab is cut imperfectly due to a defect of the cutting device 3, two or more slabs S1 and S2 are continuously conveyed. Based on the cutting completion signal sent from the cutting device 3, the transfer control device 22 operates the transfer equipment 4 to move the cast slab S2 to the transfer table 4B. However, since the slab S2 is not separated from the slab S1, the slab S2 moves together with the slab S1 when the cutting device 3 completes cutting. FIG. 6 is a schematic diagram showing how two slabs S1 and S2 are conveyed. If the slabs S1 and S2 are completely cut, the slabs S1 and S2 are conveyed in a separated state as shown in FIG. 6(A). On the other hand, when the slabs S1 and S2 are incompletely cut, the two slabs S1 and S2 may be transported so as to fit within one transport table 4C as shown in FIG. 6(B). Alternatively, as shown in FIG. 6(C), two slabs S1 and S2 may be transported across a plurality of transport tables 4B and 4C. When the slab S2 passes through the slab detection sensors 21A and 21B together with the slab S1, it is erroneously recognized that the movement of one slab S1 has been completed. Therefore, a discrepancy occurs between the actual position of the cast strip S and the first tracking information TN1 obtained by the cast strip detection sensors 21A and 21B.

In general, an abnormality in the tracking information is identified when the slab detection sensor does not detect the slab even if the transfer table is operated for a certain period of time. However, an abnormality in the tracking information cannot be detected until the transport table is operated. Also, the transfer table is operated when the slab is moved. If an abnormality is detected at this timing, the operation of the transfer table must be temporarily stopped to interrupt the movement of the slab, which will affect the operation.

On the other hand, when the cast strip tracking device 10 of FIGS. 1 and 2 is used, the first tracking information TN1 and the second tracking information TN2 indicating that the cast strip S2 is not present on the second conveying roller 4B are collated. Therefore, it is possible to automatically detect the occurrence of a tracking error with high accuracy. That is, in both cases of FIGS. 6(B) and (C), when the cast strip S1 is transported by the transport command for the cast strip S1, not only the cast strip S1 but also the cast strip S2 move together. . That is, the cast strip S2 is moved from the transport table 4B on which the cast strip S2 is supposed to be placed. At that stage, since discrepancies occur between the first tracking information TN1 and the second tracking information TN2, it is possible to detect the occurrence of a tracking error.

Note that the slab identification information may be provided not only to the first tracking information TN1 but also to the second tracking information TN2 so that the slab identification information can also be collated. For example, the transport control device 22 can transmit the slab identification information to the image analysis section in FIG. 2 in parallel with the generation of the first tracking information TN1. Then, the second tracking information TN2 including the position of the cast strip and the cast strip identification information may be collated with the first tracking information TN1. Further, the slab identification information does not have to be obtained from the transfer control device 22 . FIG. 7 is a schematic diagram showing an example of a continuous casting facility to which another embodiment of the slab tracking device of the present invention is applied. In FIG. 7, the parts having the same configuration as the cast piece tracking apparatus of FIG. As shown in FIG. 7, when the continuous casting facility 1 starts operation, a dummy bar 100 is inserted into the mold to close the lower end of the mold and pour molten steel into the mold. After that, the dummy bar 100 is pulled downward, thereby starting to pull out the slab.

Therefore, the image analysis unit 32 in FIG. 2 recognizes the dummy bar 100 in the image P and recognizes the timing when the tail end of the dummy bar passes. After that, the image analysis unit 32 sequentially assigns the slab identification information to the slab that appears first in the image after the tail end of the dummy bar has passed. At this time, when the conveying equipment 4 is divided into two or more images and acquired by the imaging devices 31A and 31B, and each image is analyzed, the movement of the slab S from the upstream side to the downstream side of the conveying equipment 4 Together with this, the slab identification information is handed over. Then, the collating device 40 divides the first tracking information TN1 to which the strand identification information based on the operation of the cutting device 3 is added and the second tracking information TN2 to which the strand identification information based on the recognition of the dummy bar 100 is added. match.

Also in the case of the second embodiment, as in the first embodiment, it is possible to suppress the occurrence of tracking abnormality due to erroneous detection or the like. Furthermore, by uniquely assigning the slab identification number in the second tracking device 30, it is possible to detect an abnormality even in the phenomenon that the first tracking information of the slab is replaced. For example, as shown in FIG. 1, it is assumed that the slab S1 is actually positioned on the transfer table 4C and the slab S2 is positioned on the transfer table 4B. However, for some reason, the first tracking information TN1 may be replaced with the content that the cast strip S2 is positioned on the transfer table 4C and the cast strip S1 is positioned on the transfer table 4B. Once the first tracking information TN1 is replaced, it becomes difficult to detect that there is an abnormality in the tracking information.

On the other hand, the first tracking device 20 and the second tracking device 30 independently assign slab identification information to the slab, and the collation device 40 performs collation of not only the position information but also the slab identification information, Anomalies such as the replacement of tracking information described above can also be detected and corrected.

Embodiments of the present invention are not limited to the above embodiments, and various modifications can be made. For example, the first tracking information is generated by the transport control device 22, but an information generating device for generating the first tracking information may be provided as a separate configuration from the transport control device 22. good. In addition, the slab identification information is exemplified in the case where a serial number is attached in the order of cutting according to the operation of the cutting device, but a sign with slab identification information such as numbers, letters, symbols, etc. is attached along with the slab. The cast slab identification information may be acquired by conveying and analyzing the marks in the image analysis unit 32 .

1 Continuous casting equipment 2 Continuous casting machine 3 Cutting device 4 Transfer equipment 4A to 4E Transfer table 10 Slab tracking device 20 First tracking device 21A to 21D Slab detection sensor 22 Transfer control device 30 Second tracking device 31A, 31B imaging Device 32 Image analysis unit 40 Verification device 100 Dummy bar P Images S, S1, S2 Cast piece TN1 First tracking information TN2 Second tracking information

Claims (8)

A slab tracking method for cutting a continuously cast strand into a plurality of slabs and detecting the positions of each of the plurality of slabs when transporting the plurality of cut slabs by a transport facility, comprising:
a first tracking step of acquiring, as first tracking information, the position of the cast piece detected by a cast piece detection sensor installed in the conveying equipment;
a second tracking step of acquiring, as second tracking information, the position of the cast slab detected by analyzing an image of the conveying equipment;
a matching step of matching the first tracking information and the second tracking information;
A method for tracking a slab having The slab according to claim 1, wherein the second tracking step sets an analysis region for analyzing the presence or absence of the slab in the image, and determines whether or not the slab exists in the analysis region. tracking method. 3. The cast slab tracking method according to claim 1 or 2, wherein in the matching step, if the first tracking information and the second tracking information do not match, the first tracking information is corrected to the second tracking information. 4. Any one of claims 1 to 3, wherein the first tracking step generates the first tracking information by combining the slab identification information given to the slab in order of cutting the strands and the position of the slab. The method for tracking slabs described in the paragraph. 5. The second tracking step according to any one of claims 1 to 4, wherein the second tracking information is generated by combining the slab identification information given to the slab in order of cutting the strands and the position of the slab. 2. The method for tracking a cast slab according to item 1. The second tracking step includes:
In the second tracking step,
Recognizing the dummy bar reflected in the image at the start of casting,
After recognizing the dummy bar, slab identification information is given in the order in which the slab is conveyed, and the second tracking information is generated by combining the slab identification information and the position of the slab. A slab tracking method according to any one of . In the second tracking step, two or more images are divided and acquired in the transport direction in the transport equipment, and each image is analyzed,
7. The method according to claim 5 or 6, wherein when the second tracking information is generated from the analysis of the plurality of images, the slab identification information is handed over as the slab is moved from the upstream side to the downstream side of the transport facility. slab tracking method. A slab tracking device for cutting a continuously cast strand into a plurality of slabs and detecting the positions of the plurality of slabs when transporting the plurality of cut slabs by a transport facility,
a first tracking device that acquires, as first tracking information, the position of the cast piece detected by a cast piece detection sensor installed in the conveying equipment;
a second tracking device that acquires, as second tracking information, the position of the cast slab detected by analyzing an image of the conveying equipment;
a matching device for matching the first tracking information and the second tracking information;
A slab tracking device having a

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