TW200813233A - Method for measuring blast furnace material surface shape and material flow track by laser ranging technology - Google Patents

Method for measuring blast furnace material surface shape and material flow track by laser ranging technology Download PDF

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Publication number
TW200813233A
TW200813233A TW095133573A TW95133573A TW200813233A TW 200813233 A TW200813233 A TW 200813233A TW 095133573 A TW095133573 A TW 095133573A TW 95133573 A TW95133573 A TW 95133573A TW 200813233 A TW200813233 A TW 200813233A
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Taiwan
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blast furnace
furnace
laser
measuring
dimensional
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TW095133573A
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Chinese (zh)
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TWI307719B (en
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Shih-Kang Kuo
Wen-Jie Li
xian-wen Du
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China Steel Corp
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Priority to TW095133573A priority Critical patent/TW200813233A/en
Priority to KR1020070057081A priority patent/KR100924848B1/en
Priority to JP2007157523A priority patent/JP4691068B2/en
Publication of TW200813233A publication Critical patent/TW200813233A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F27—FURNACES; KILNS; OVENS; RETORTS
    • F27B—FURNACES, KILNS, OVENS, OR RETORTS IN GENERAL; OPEN SINTERING OR LIKE APPARATUS
    • F27B1/00—Shaft or like vertical or substantially vertical furnaces
    • F27B1/10—Details, accessories, or equipment peculiar to furnaces of these types
    • F27B1/28—Arrangements of monitoring devices, of indicators, of alarm devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M11/00—Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
    • G01M11/02—Testing optical properties
    • G01M11/0242—Testing optical properties by measuring geometrical properties or aberrations
    • G01M11/025—Testing optical properties by measuring geometrical properties or aberrations by determining the shape of the object to be tested
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/01—Arrangements or apparatus for facilitating the optical investigation
    • G01N2021/0181—Memory or computer-assisted visual determination

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Geometry (AREA)
  • Analytical Chemistry (AREA)
  • Chemical & Material Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Optics & Photonics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Manufacture Of Iron (AREA)
  • Blast Furnaces (AREA)

Abstract

This invention relates to a method for measuring blast furnace material surface shapes and material flow tracks by a laser ranging technology, which primarily utilizes a laser scanner installed over the material surface of the blast furnace, obtaining data points inside the blast furnace by laser scanning means, reconstructing these data points by computers as a three-dimensional model, and finishing measurement of blast furnace material surface shapes. In order to measure the material flow tracks, through a two-dimensional laser scanner installed over the material surface of the blast furnace to measure a material feeding profile flowing down from a loading hopper, integrating the profile into the three-dimensional model by computers, confirming whether the feeding position matches the predetermined position by operators, and correcting feeding angles and feeding turns.

Description

200813233 九、發明說明： 【發明所屬之技術領域】 本發明係關於一種利用雷射測距技術應用於量測高爐 中之料面外形以及料流執跡的方法。 【先前技術】 高爐是一座複雜的大型化學反應器，其反應的過程主 要是一連串的氧化鐵與焦碳的氧化還原反應，這些化學反 應的,文率決定於高爐中高溫氣流的分佈，而決定氣流分佈 、關鍵之在於軟融帶（cohesive zone)的形狀以及尺寸 σ亥权融π又由料面外形所決定，此外，焦碳以及鐵礦在 爐内分佈的位置與比例也會影響氣流的们布，目此，高爐 、料面形狀以及料流執跡在高爐運作過程中佔有極為重要 的地位。 隹長久以來’目文限於咼溫高壓的惡劣環境而無法得 、:内料面刀佈形狀、以及佈料時料流的執跡狀態等。近200813233 IX. Description of the invention: [Technical field to which the invention pertains] The present invention relates to a method for measuring the shape of a material surface and the flow of a material in a blast furnace by using a laser ranging technique. [Prior Art] The blast furnace is a complex large-scale chemical reactor. The reaction process is mainly a series of redox reactions of iron oxide and coke. The rate of these chemical reactions is determined by the distribution of high-temperature gas in the blast furnace. The distribution of airflow, the key is the shape and size of the cohesive zone, which is determined by the shape of the material. In addition, the location and proportion of coke and iron ore distributed in the furnace will also affect the airflow. We, cloth, the blast furnace, the shape of the material surface and the flow of the track in the blast furnace operation process plays an extremely important role.隹 For a long time, the text has been limited to the harsh environment of temperature and high pressure, and it is not available: the shape of the inner surface of the knife and the state of the flow of the cloth. near

年^有—些研究對於前述爐内料面形狀的量測提出貢獻 、二研九所知用的方法大致上可區分為間接量測及直接 ϊ測，其中： 間接量測法主要係先量 積分出料面外形。惟此方法 以及積分的精確性等因素的 外形。 測料流執跡，再根據量測結果 會因料流與爐壁撞擊、滑料、 影響下，無法準確計算出料面 直接ϊ測法主要係針對最後的佈料結果進行外形量測 ’其中利用微波式距離量測穿 里〜衣置於運轉中的高爐中進打 4 200813233 料面的掃指’惟受到高溫的 置易受高溫所与m A 下，该微波式距離量測装 【發明内容】 、較有效率的量測。 本發明之主要目的在於提供一 高爐料面外形& 八 乂苗射測距技術量測 心及科流執跡的方法， 益 技術無法對g ^ #也 日δ又计，改善先前 流執跡之問題。 、】爐内料面形狀以及料 為達成前揭目的，本發明 測高爐料面外形… 所以之以雷射測距技術量 0方法’主要择你田_ 於高爐料面上方卢 / 口P m射掃描儀裝設 sa< _ „ 处，以及一部至少内建點群分析浐彳夕+ 脑，该電腦並電性逢桩 ^刀析私式之電 电注運接该雷射掃描儀，執 以雷射掃描手段取尸古 ^ 之y驟·· 取传南爐内部資料既雜：欠 係以雷射掃描儀對古 、”，、f貝料之步驟， 義對n爐内進行空間掃描， 面點群的資料，A彳自认^ 取传円爐内部表 貝竹再傳輪至電腦中；以及 衣 以該些點群資料會奢古 、卄重建同爐料面模型之 内建的點群分析鞀々分換》 知係由電腦 ^刀析私式依據該些點群資料重 模型’而完成高爐料面形狀的量測。 -爐内部的 本發明所設計之以雷射測距技術量 方法，係使用前述以+ #、9| % θ 。爐料k執跡的 义以田射測距技術量測高爐 法測得該高爐内部之# 卜形的方 I之#面外形，另於該高 至少一部二維雷射掃杧福 ^ ^ 心抖面上方裝設 垂直於地面’且使自高爐項部之佈料斗茨入，描平面 跡可穿過該二維雷射掃描儀的掃描平面，之料流軌 描儀量測料流上下表面的軌跡。 e 该雷射掃 200813233 本發明藉由前述以雷射測距技術量測高爐料面外形的 方法以及及料流執跡的方法設計，其特點主要利用雷射掃 祂儀快速、穩定、準確以及高爐環境對其量測之影響小等 特性，亚配合電腦的處理，使其應用於高爐料調查中對佈 料後料面以及料流執跡提供一項準確而實用之量測方法。 【實施方式】Years - Some studies have contributed to the measurement of the shape of the material in the furnace, and the methods used by the second research institute can be roughly divided into indirect measurement and direct measurement. Among them: Indirect measurement is mainly Integral discharge surface shape. However, the shape of the method and the accuracy of the integration. According to the measurement flow, the measurement result will be caused by the flow and the wall impact, the sliding material, and the influence. The direct measurement method cannot be accurately calculated. The main method is to measure the shape of the final fabric. Using the microwave distance measurement to measure the wearer~ clothes placed in the blast furnace in operation. 4200813233 The sweeping finger of the material surface is only subjected to high temperature and is subject to high temperature and m A. The microwave distance measuring device is invented. Content], more efficient measurement. The main object of the present invention is to provide a method for measuring the core and the flow of the blast furnace material surface & gossip shot ranging technology, and the technology can not be used to improve the previous flow. The problem. The shape of the material in the furnace and the material for the purpose of the pre-existing purpose, the shape of the surface of the blast furnace of the present invention... So the method of laser ranging technology 0 method 'mainly choose your field _ above the blast furnace material surface Lu / mouth P m The scanner is equipped with sa< _ „, and at least a built-in point group analysis 浐彳 ++ brain, the computer is electrically connected to the pile and the private electric power is connected to the laser scanner. Take the laser scanning method to take the corpse of the ancient ^ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Scan, the data of the pastry group, A彳 self-recognition ^ Take the internal table of the furnace and transfer the bamboo to the computer; and the clothes with these points will be extravagant and reconstructed. The point group analysis is divided into two parts. The knowledge is determined by the computer ^ knife to analyze the shape of the blast furnace material surface according to the point group data heavy model. - The inside of the furnace is designed by the laser ranging technique method using the above-mentioned + #, 9| % θ . The charge of the charge k is measured by the blast furnace method. The blast furnace method measures the shape of the inside of the blast furnace, and at least one of the two-dimensional laser brooms. The top of the shaking surface is installed perpendicular to the ground' and the cloth is fed from the blast furnace section. The drawing plane can pass through the scanning plane of the two-dimensional laser scanner, and the flow tracker measures the upper and lower surfaces of the flow. traces of. e The laser sweep 200813233 The invention is designed by the method for measuring the shape of the blast furnace surface by the laser ranging technology and the method for constructing the flow, and the characteristics thereof are mainly fast, stable and accurate by using the laser sweeping instrument. The influence of the blast furnace environment on its measurement is small, and the sub-computer treatment makes it an accurate and practical measurement method for the material surface and material flow in the blast furnace material investigation. [Embodiment]

令關本發明以雷射測距技術量測高爐料面外形的方 之具體實施設計’如第—圖所示’其主要係使用-部三 ::掃描儀裝設於高爐之料面上方處，於本較佳實施例 如亥雷射掃描儀傾斜裝設於該高爐爐喉上方之人孔處 爐 八中因南爐之料層是由下往上堆積，而 皿、 疋位於料位線上方約2. 5公尺處，故為# 1 一 雷射掃描儀的_ > ^ 恿故為使该二 ，：儀的知描圍可以涵蓋高爐内之料位線以下空 佳:：二雷射:帚描儀以裝設於人孔處呈傾斜_預定角度 分析程式之^至少内建有座標系統轉換校正程式及點: ，再執行以下牛：電腦並與該三維雷射掃描儀電性連〗 1 <夕驟： 以雷射掃描年〜一上 係以三維雷射〜侍南爐内部資料點群資料之步驟 爐内部表面點群的⑼… 准工間知描’取^ 腦中。 爷的。或座標系統的三維資料，再傳輸至， 由電腦内建^之座標系統進行轉換校正之步 域座標系咣之:払系、先轉換杈正程式將該些資料點 之二維資料分別轉換為符合高爐世界座 6 200813233 貧料點群之三維資料，該些資料點群之座標系統轉換步驟 ，可應用以爐壁對稱性為基礎的校正手段或是使用電^’式 水平儀為基礎的校正手段來進行，其中··The specific implementation design of the invention for measuring the shape of the blast furnace surface by laser ranging technology is as shown in the figure - the main use is - Part 3: The scanner is installed above the surface of the blast furnace In the preferred embodiment, for example, a laser scanning scanner is installed obliquely on the manhole above the blast furnace throat, because the material layer of the south furnace is stacked from bottom to top, and the dish and the crucible are located above the material level line. About 2. 5 meters, it is # 1 a laser scanner _ > ^ 恿 为 为 为 为 为 为 为 为 为 为 为 仪 仪 仪 仪 仪 仪 仪 仪 仪 仪 仪 仪 仪 仪 仪 仪 仪 仪 仪 仪 仪 仪 仪 仪 仪 仪 仪 仪 仪 仪 仪 仪 仪Shot: The scanner is tilted at the manhole _ predetermined angle analysis program ^ At least built-in coordinate system conversion calibration program and points:, then execute the following cattle: computer and electrical with the three-dimensional laser scanner Even 〗 1 < 夕 : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : : . Grandpa. Or the three-dimensional data of the coordinate system is transmitted to the step domain coordinate system which is converted and corrected by the coordinate system of the built-in computer of the computer: the 払 system and the first conversion 杈 program convert the two-dimensional data of the data points into It conforms to the three-dimensional data of the poor group of blast furnace world seat 6 200813233. The coordinate system conversion steps of the data point group can be applied to the correction method based on the symmetry of the furnace wall or the correction method based on the electric level meter. Come on, where ··

所述之以爐壁對稱性為基礎的校正手段，係於高爐内 之料位相當低的時候，先以該三維雷測掃描儀先量測高爐 内部’以獲取爐胸部分的資料點’如第二圖所示，進而由 電腦進行運算處理於爐體中定義出_主軸，其次，藉由找 出爐體上下兩截圓的圓心’兩圓心的連線定義為向^ A。 ^ 一向量A在高爐本體的世界座標系統則為垂直軸z，A 與Z的夾角為兩座標系統之間的旋轉角度。將所有的點資 枓沿某一旋轉軸進行旋轉而使得旋轉後的主軸與地面垂直 。邊轉軸可表示為繞向量κ = |^，旋轉角度 將所有的S測點Q繞向量κ轉動^，即可將三維雷射掃描 儀測得所有資料點之三維資料透過 C"式 P · Q=z(Q.K)K(l-cos(9) + Qcos0-(ICxQ)sin(9 轉換至世界座標系統上之三維資料。 、斤述之使用電子式水平儀為基礎的校正手段，係適用 2间爐内之料位較高時，或爐壁因侵蝕而對稱性較差時， 口此4上述以爐壁對稱性為基礎的校正手段使用的方法無 二準確的資料點轉換，故本校正手段係於該三維雷射 + 衣黾子式水平儀直接量測傾斜角度，此傾斜角 :、j述向里A與Z的夾角，即可將三維雷射掃描儀測得 斤有資料點之三維資料透過 方程式P · a Q* = (Q * K)K(1 - cosθ) + Q cos θ-(Κχ Q) sin Θ 7 200813233 轉換至世界座標系統上之三維資料。 以及以該些資料點的三維資料 割料面與爐壁量測資料點之I， / 一、准杈型並加以分 析程式將已轉換校正為世界係由電腦内建的點群分 爐内内部的三維模型，並A A T糸4*的貧料點群重建出高 料點，其中依高爐外二步 料面大多分佈於高爐的井内部位心）個因錐體’而 爐井=部位的2f料點2(奶)具有如下的關係：因此位於高 (Z Zc) =a((nc)2+(y —4)2) 其中(…)為圓錐體的頂點“為圓 角 响⑷。以爐胸的資料點進行最佳化擬合可以找出。 式中的四個參數，再加上判斷條件 程 除與圓錐體相當靠近的資料點，截取出屬=測結果中剔 進而於三維模型中分離出料面之形狀」、：的點群， 狀的量測，|έ此，利4 ’ 兀成尚爐料面形 里〗猎此，利用该料面形狀的量測方法 一批佈料的結構作最後的判斷。 用於對母 本發明藉由前述高爐料面形狀量測方法設計，可 -層鐵礦以及每一層焦炭佈料之後二 測得其料面形狀，並將料面資料點與爐壁資料別 形狀的資料點透過電腦計算出焦炭壓縮率二 隹戶^；；厌比寺重要佈料參數，其中鐵礦/焦炭比以及 ,、、、厌£細率之計算均是以體積為計算基礎，因此，首 :測得的料面資料點之資料數據進行格點的建立與修補， 妾者進打數值積分以計算出相鄰兩料面所夾的體積。如第 8 200813233 四圖所示’其分別依序堆積三層料面鐵於〇 戶、Ν、焦炭cN以及 鐵礦oN+】。由鐵礦〇N與焦炭cw的料面資料# 竹J M叶鼻出壓縮 前焦炭的體積V】，而由鐵礦〇N與鐵礦〇N+〗的料面可計算 出已麼縮的焦炭加上鐵礦的體積1_的體積已知為^ ，則被塵縮的焦炭體積可表示為v 。网z 0 w〇。 V2 v。。屋縮率則為 有闕鐵石廣/焦炭比的計算方式，如第五圖所示， 對每一個格點所在的位置（Γ)都可計算出焦炭的層厚、The correction means based on the symmetry of the furnace wall is that when the material level in the blast furnace is relatively low, the three-dimensional lightning scanner first measures the inside of the blast furnace to obtain the data point of the chest portion. As shown in the second figure, the calculation process by the computer defines the _ spindle in the furnace body. Secondly, the line connecting the two centers of the upper and lower circles of the furnace body is defined as the direction A A. ^ A vector A in the world coordinate system of the blast furnace body is the vertical axis z, and the angle between A and Z is the angle of rotation between the two coordinate systems. Rotate all the points along a rotation axis so that the rotated spindle is perpendicular to the ground. The side rotation axis can be expressed as a vector κ = |^, and the rotation angle rotates all the S measurement points Q around the vector κ, so that the three-dimensional data of all the data points can be measured by the three-dimensional laser scanner through the C" =z(QK)K(l-cos(9) + Qcos0-(ICxQ)sin(9 Converts to 3D data on the world coordinate system. It is applicable to the correction method based on the electronic level meter. When the material level in the furnace is high, or the symmetry of the furnace wall is poor due to erosion, the method of using the above-mentioned correction method based on the symmetry of the furnace wall has no accurate data point conversion, so the correction method is The tilt angle is directly measured by the three-dimensional laser + clothes-type level, and the angle of inclination: j, the angle between the A and the Z, the three-dimensional laser scanner can measure the three-dimensional data of the data points. Equation P · a Q* = (Q * K)K(1 - cosθ) + Q cos θ-(Κχ Q) sin Θ 7 200813233 Convert to 3D data on the world coordinate system and 3D data from these data points The cutting surface and the wall measurement data point I, / one, the quasi-杈 type and the analysis program will be converted and corrected The world system is built by a three-dimensional model inside the point group furnace built by the computer, and the high material point is reconstructed by the AAT糸4* poor material point group. The two-step material surface outside the high furnace is mostly distributed in the inner well center of the blast furnace. 2f point 2 (milk) due to the cone's and the well = has the following relationship: therefore, it is located at high (Z Zc) = a((nc)2+(y -4)2) where (...) is The apex of the cone "is a rounded corner (4). The optimal fitting of the data points of the chest can be found. The four parameters in the equation, plus the judgment condition, except for the data points that are close to the cone, Cut out the genus = the result of the measurement and then separate the shape of the material surface in the three-dimensional model", : the point group, the measurement of the shape, | έ ,, 4 4 ' 兀 尚 尚 尚 炉 〗 〗 〗 , , , , The measurement method of the shape of the material surface is used for the final judgment of the structure of a batch of cloth. The invention is designed by the above-mentioned method for measuring the shape of the blast furnace surface, the layer of iron ore and the layer of coke cloth after each layer. The shape of the material surface was measured, and the data points of the material data points and the shape of the furnace wall were calculated by computer to calculate coke compression. The rate of the two households ^;; the important cloth parameters of the temple, the iron ore / coke ratio and the calculation of the fineness of the,,,, and the average rate are based on the volume calculation, therefore, the first: measured surface data The data of the points are used to establish and repair the grid points, and the latter enters numerical integration to calculate the volume of the adjacent two material planes. As shown in Figure 4 200813233, the four layers of surface iron are sequentially stacked. In Seto, Ν, coke cN and iron ore oN+]. From the surface of the iron ore N and coke cw #竹JM leaf nose out of the volume of coke before compression V], and from iron ore N and iron ore The N+〗 material surface can be calculated as the volume of the reduced coke plus iron ore volume 1_ is known as ^, then the volume of the coke that is dusted can be expressed as v. Web z 0 w〇. V2 v. . The housing shrinkage rate is calculated as the stellite/coke ratio. As shown in the fifth figure, the layer thickness of coke can be calculated for each position (Γ) of the grid point.

Lc2、…以及鐵礦層厚L〇i、L ...。 二Lc2, ... and iron ore layer thickness L〇i, L .... two

執廣/焦厌比（0/C ratio)可表示為 2^。 llLci 本發明以雷射測距技術量測高爐 病 > 植古味】, 门i 丁十机軌跡的方法係接 ，·,則揭问爐料面形狀量測之後作進一步的延伸 〜 七圖所不，其中係於高焯 ’、 ^ 1丄〇)枓面上方處裝設至少一 部二維雷射掃描儀’於本較佳實施例： )爐喉上方左右兩側 门坻（1 0 儀（30)，該-，°再裝設一部二維雷射掃描 垂直於地面，而==射掃描儀（20)的掃描平面 ，使自佈料斗（4二/Λ斗（4 0)係架設於高爐頂部 穿過兮二-組 ）洛入高爐（1〇)内之料流執跡可 別由二、=:苗儀（3〇)的掃描平面時，即可分 下流出之料；!;:儀（30)量測自佈料斗（“）向 線可定義出落料曲線面的轨跡’由上下兩軌跡所代表的曲 前述中，由於；$ 、“运射掃插儀各有其區域座標系統，分 200813233 別為左區域座標系統（LCS )與右區域座標系統（RCS )。 由於料流執跡的上下兩曲線分別對應至左、右區域座標系 先（LCS RCS)，必須杈正出該兩座標系統之間的關係， 才能結合上下表面執跡的座標點。該二區域座標系統（ LCS、RCS)之間的關係可用三個參數ρχ，巧以及$表示， 另藉由電子式水平儀可以I、、目彳 、γ卞儀J以里測0。另可在任一邊雷射掃描 儀上安裝反光板’可以由另一邊測得的反光板位置校正出The implementation/focus ratio (0/C ratio) can be expressed as 2^. llLci The invention uses the laser ranging technology to measure the blast furnace disease > the ancient taste of the plant, the method of the door y 10 machine trajectory is connected, and then the furnace material surface shape measurement is further extended after the measurement. Wherein at least one two-dimensional laser scanner is installed above the sorghum ', ^ 1 丄〇 枓 于 于 于 于 于 于 于 ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) ) 30), the -, ° then install a two-dimensional laser scan perpendicular to the ground, and == scan plane of the scanner (20), so that the hopper (4 2 / hopper (40) erected The flow in the top of the blast furnace through the 兮二-group) Luo into the blast furnace (1〇) can be traced by the second, =: Miaoyi (3〇) scanning plane, you can separate the flow out; ;: instrument (30) measured from the cloth bucket (") to the line can define the trajectory of the blanking surface" by the upper and lower trajectories represented by the above, because; $, "transported sweepers have The regional coordinate system is divided into the left area coordinate system (LCS) and the right area coordinate system (RCS) according to 200813233. Since the upper and lower curves of the flow track are respectively corresponding to the left, The regional coordinate system (LCS RCS) must be used to map out the relationship between the two coordinate systems in order to combine the coordinate points of the upper and lower surfaces. The relationship between the two regional coordinate systems (LCS, RCS) can be used in three parameters. Ρχ, Qiao and $ indicate that the electronic level can be used to measure I in the I, 彳, γ J J J. In addition, the reflector can be installed on either side of the laser scanner. Board position correction

Px與Py。據此，即可明顯量測到落料曲線，並透過電腦 整合於爐内三維模型中’提供操作人員確認㈣下的料是 ，洛在原本設Μ位置’而操作人貞亦依據該量測所得之 洛料曲線及落料γ立署，、仓 進而知正佈料角度與佈料圈數。 【圖式簡單說明】 方# *係本《明以雷射測距技術量測高爐料面外形的 方法=一較佳實施例之流程示意圖。 第二圖係本發明古 之平面示意圖。“爐之人孔處装設三維雷射掃描儀 。第三圖係本發明量測爐體取得旋轉角度之平面示意圖 焦炭以及鐵確等三層 焦炭之厚度之平面示 第四圖係本發明揭示依序鐵礦 料面之平面示意圖。 第五圖係本發明揭一 立 知月揭不數層鐵礦 第六圖係本發 第七圖係本發 ^使1之二維雷射掃描儀之平面示意圖 月於向爐左右兩側各設一部二維雷射掃 10 200813233 描儀應用於量測料流執跡之平面示意圖。 【主要元件符號說明】 (1 ◦)高爐 (2 0 )三維雷射掃描儀 (3 0 )二維雷射掃描儀 (4 0 )佈料斗Px and Py. According to this, the blanking curve can be obviously measured and integrated into the three-dimensional model in the furnace through the computer. 'The operator is confirmed (4) that the material is in the original setting position and the operator is also based on the measurement. The obtained Luoqi curve and blanking γ are set up, and the warehouse further knows the angle of the fabric and the number of fabric laps. [Simple description of the scheme] The method of measuring the shape of the blast furnace surface by the laser ranging technology is shown in the following. The second drawing is a schematic plan view of the invention. "The three-dimensional laser scanner is installed at the manhole of the furnace. The third figure is a plan view showing the rotation angle of the furnace body of the present invention, and the fourth embodiment of the thickness of the three layers of coke." A schematic diagram of the plane of the iron ore material surface. The fifth figure is a two-dimensional laser scanner of the present invention, which is the sixth image of the present invention. The schematic diagram shows a two-dimensional laser sweep on the left and right sides of the furnace. 200813233 The schematic diagram of the tracer applied to the measurement flow. [Main component symbol description] (1 ◦) blast furnace (2 0 ) three-dimensional Laser scanner (3 0 ) 2D laser scanner (4 0) cloth bucket

1111

Claims (1)

200813233 十、申請專利範圍： 1 一種以命 主要係使用一邻命子測距技術重測高爐料面外形的方法， 及一部至少内建點群分的科面上方處，以 該雷射掃描儀，热/ 壬式之％腦，該電腦並電性連接 我執行以下之步驟： 以雷射掃描丰 π A 又取付南爐内部資料 ：欠 係以雷射掃描儀對高爐内進行*間掃:;柄貝枓之步驟， 面點群的資料，再 田，取得咼爐内部表 丹傳輸至電腦中；以及 以該些點魏次、,、· ” 貝料重建高爐料面模型之+取 内建的點群分叔P 4/ 乂恥，係由電腦 斤私式依據該些點群資料 > 模型，而完成莴栌Μ二 、+重建出尚爐内部的 风Ν爐科面形狀的量測。 2 如申凊專利範圍第1項所述之以兩 測高爐料面外形的方 : 每射測距技術量 ^ ^ ' / ，/、中係令該雷射掃描儀傾钭妒μ 於南爐爐喉上方之人孔處。 儀俏斜衣叹 3 ·如申請專利範圍第1 . 術量測高爐料面外形的方法，直φ2/所迷之以雷射測距技 統轉換校正程式，利用談户Γ Α電腦尚内建有座標系 m ^ Μ坐‘系統轉換校正程式提供之座 才示系統轉換手段將該些資料點君 ’、 爐世界座標系統資料專換為付。-hrt 胃科，再為電腦之點群分析程 二-貝料點的資料重建該高爐内部的三維模型。 4·如申請專利範圍第3項所述之以雷射測距技術量 測尚爐料面外形的方法，苴中， ^ r ^ . ’、 遠座h轉換方法係定義爐 月且座知系統與雷射掃描儀座標系 宁、、，元之間的關係由爐體主軸 向ϊ描述之，由爐體主軸向量可卡 Π里7求出凝轉軸κ與旋轉角度 12 200813233 0，再將所有的量測點Q繞向量K轉動-θ，使其符合方程 式Q (Q + —(KxQ)sin0，將該些資料點轉換至 世界座標系統。 5 ·如申請專利範圍第4項所述之以雷射測距技術量 測高爐料面外形的方法，其巾，該爐體主軸向量的取得， 係分別求出上ΠΓ工& ^ 工卜兩截圓的圓心，以該兩圓心的連線作為擒 體主軸向量。 "' a 0 » 由上主200813233 X. Patent application scope: 1 A method for re-measuring the shape of the blast furnace material surface by using a neighboring distance measuring technology, and a laser scanning at least above the internal surface of the point group. Instrument, hot / 壬 type of brain, the computer and electrical connection I perform the following steps: Laser scanning π A and take the internal information of the South furnace: under the laser scanner to scan the blast furnace :; The handle of the shell, the data of the point group, and the field, the internal table of the furnace is transferred to the computer; and the Wei dynasty,,,,, The built-in point group is divided into uncle P 4/ shame, which is based on the computerized data based on the point group data> model, and the endogenous two, + reconstructed the shape of the wind furnace in the interior of the furnace. Measurement: 2 As stated in the first paragraph of the patent scope of the application, the square of the surface of the blast furnace is measured: the technical quantity per shot distance ^ ^ ' / , /, the middle system makes the laser scanner tilt At the manhole above the throat of the south furnace. Yiqiao oblique sigh 3 · If the scope of patent application is 1st. The method of measuring the shape of the blast furnace surface, the straight φ2/ is fascinated by the laser ranging technology conversion correction program, using the Γ Γ Α computer is also built with the coordinate system m ^ Μ sit 'system conversion correction program provided The system shows the system conversion means to replace the information of the data point ", furnace world coordinate system for payment. -hrt gastroenterology, and then reconstruct the three-dimensional interior of the blast furnace for the data of the point group analysis of the computer Model 4. As described in the third paragraph of the patent application, the method of measuring the shape of the surface of the furnace by laser ranging technology, 苴中, ^ r ^ . ', the remote seat h conversion method is defined by the furnace and the system The relationship between the coordinates of the laser scanner coordinates Ning, , and Yuan is described by the main axial ϊ of the furnace body. The condensing axis κ and the rotation angle 12 are calculated from the spindle body vector 可卡Π里7, and then all The measuring point Q is rotated by -θ around the vector K so that it conforms to the equation Q (Q + —(KxQ)sin0, and the data points are converted to the world coordinate system. 5 · As described in item 4 of the patent application scope Method for measuring the shape of blast furnace surface by laser ranging technology The towel, the spindle vector of the furnace is obtained, and the center of the two rounds of the upper work & ^ work is respectively determined, and the connection of the two centers is used as the body spindle vector. "' a 0 » From the Lord 口甲晴專利範圍第2項所述之以雷射測距旦 測高爐料面外丄 里 卜形的方法，其中，該方法尚使用一電子# 平儀設於該雷射户w 电卞式水 /田射％描儀上為基礎，直接量測出雷射掃描 的傾制~角Θ ^ 啦1 、…、 ’該電腦尚内建有座標系統轉換校正程式，用 =田射知描儀取得之該些資料點群座標系統轉換為符人 座標系統資料點群之三維資料，#為電腦之點; 模'以4些資料點的三維資料重建該高爐内部的三維 術量測高二=::Γ=項所述之以雷射測距 分析程重建"」 中’該電腦透過内建點 爐壁部份之=部的三維模型時，並進一步分割出屬 。 、/'' ·、’、έ 進而於二維模型中分離出料面之形 測焉爐料 式利用 〇申請專利範圍第7項所述之以雷射測距技4 面外形的方法’其中’ ”腦内建之點群分? 月且的貪料點群擬合出圓錐方卷 200813233 中剔除與圓錐體相者I 田罪近的貧料點，截取出屬於料面的點 群。 、一 9如Μ專利範圍帛8項戶斤述之以雷射測距技術量 /則鬲爐料面外形的方法，甘 去 其中，该電腦内建之點群分析程 式進一步利用該些料面 卸”、、占群為基礎，計算出爐内各個不同 你罢π 士你丄 r . ，從而由鐵礦/ 位置所有焦炭厚度與鐵礦厚度之比：Y4Loi Υμ … 知矣回/亚氣机在咼爐内的分佈情形，用以評估高辦 操作是否穩定。 1 —1 Q .如中請專利範圍第8項所述之以雷射測距技術 :測高爐料面外形的方法，纟中，該電腦内建之點群分析 思式進〃利用s亥些料面點群為基礎，計算未壓縮焦炭料 s的版積v卜以及經壓縮後的焦炭與鐵礦的體積和， 被壓縮的焦炭體積可表…-v〇，其壓縮率則為二。 厂】 1 1 一種以雷射測距技術量測高爐料流軌跡的方法 ’係使用如巾請專利範圍第1至8項之任-項所述之以雷 射測距技術量測高爐料面外形的方法測得該高爐内部之料 面外形，另於該高爐料面上方處裝設至少一部二維雷射掃 :儀，該二維雷射掃描儀的掃描平面垂直於地面，且使自 =了貝部之佈料斗落人其内之料流軌跡可穿過該二維雷射 ▼描儀的掃描平面，藉以兩雷射掃描儀量測料流上下表面 的執跡。 1 2如申請專利範圍第1 Μ所述之以雷射測距技 14 200813233 術量測高爐料流執跡的方法，其中於該高爐爐喉上方左右 二維雷 之佈料 儀的掃 下表面 兩側之入孔處各裝設一部二維雷射掃描儀，該二部 射掃描儀的知描平面垂直於地面，且使自高爐頂部 斗落入其内之料流軌跡可穿過該二部二維雷射掃^ 描平面，藉以分別由左右二雷射掃描儀量測料节上 的執跡。 十一、圖式·The method for measuring the outer surface of the blast furnace material by laser ranging is described in the second paragraph of the patent scope of the patent, wherein the method is still provided by the electronic device. Based on the field-based spectroscopy, the direct measurement of the laser scanning tilting angle Θ ^ 1 1 , ..., 'The computer is also built with a coordinate system conversion correction program, obtained with the = field shooting finder The data point group coordinate system is converted into three-dimensional data of the data point group of the human coordinate system, # is the point of the computer; the model 'reconstructs the three-dimensional measurement of the interior of the blast furnace with three-dimensional data of four data points=::Γ In the section "Reconstruction of the laser ranging analysis", the computer is further divided into three parts by the three-dimensional model of the part of the wall of the built-in point. , /'' ·, ', έ and then the separation of the material surface in the two-dimensional model, the method of measuring the shape of the four-sided shape of the laser range technology described in the seventh application patent scope "The point group built in the brain? The monthly greedy point group fits the conical square roll 200813233 and removes the poor material point near the cone phase I, and intercepts the point group belonging to the material surface. 9 If the scope of the patent is 帛8 items, the method of measuring the amount of laser ranging technology/the shape of the surface of the furnace, go to it, and the built-in point group analysis program of the computer further utilizes the material surface unloading, Based on the group, calculate the difference between the furnace and the thickness of the iron ore in the iron ore: Y4Loi Υμ ... The distribution situation is used to assess whether the operation of the high office is stable. 1—1 Q. For the laser ranging technology described in item 8 of the patent scope: the method for measuring the shape of the blast furnace surface, in the middle of the computer, the point group analysis built into the computer uses the shai Based on the point group, the volume of the uncompressed coke s and the volume of the compressed coke and iron ore are calculated. The volume of the compressed coke can be expressed as -v〇, and the compression ratio is two. Factory] 1 1 A method for measuring the trajectory of blast furnace flow by laser ranging technology' is to measure the blast furnace surface by laser ranging technology as described in the items of items 1 to 8 of the patent application. The shape method measures the shape of the material inside the blast furnace, and at least one two-dimensional laser sweeping device is installed above the blast furnace material surface, and the scanning plane of the two-dimensional laser scanner is perpendicular to the ground, and The flow path of the two-dimensional laser detector can be passed through the scanning plane of the two-dimensional laser scanner, and the two laser scanners are used to measure the upper and lower surfaces of the stream. 1 2 The method for measuring the blast furnace flow by laser ranging technology as described in the first section of the patent application, wherein the sweeping surface of the two-dimensional lightning cloth is above and below the blast furnace throat. A two-dimensional laser scanner is arranged at each of the entrance holes of the two sides, and the scanning plane of the two-spot scanner is perpendicular to the ground, and the flow path of the bucket falling from the top of the blast furnace can pass through the Two two-dimensional laser scanning planes are used to measure the obstructions on the material section by the left and right laser scanners. XI, schema· 如次頁Secondary page 1515
TW095133573A 2006-09-12 2006-09-12 Method for measuring blast furnace material surface shape and material flow track by laser ranging technology TW200813233A (en)

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KR1020070057081A KR100924848B1 (en) 2006-09-12 2007-06-12 Method for measuring an outline of a stratum of a reactant and a path of charging the reactant in a blast furnace
JP2007157523A JP4691068B2 (en) 2006-09-12 2007-06-14 Method for measuring the outer shape of the reactant layer and the supply path of the reactant to the blast furnace

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TWI576567B (en) * 2016-01-18 2017-04-01 中國鋼鐵股份有限公司 Microwave level meter for blast furnace
TWI617669B (en) * 2016-08-10 2018-03-11 中國鋼鐵股份有限公司 Method for measuring volume of material layer in blast furnace

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