1307719 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挪古辦 中之料面外形以及料流軌跡的方法。 【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1307719 IX. Description of the invention: [Technical field to which the invention pertains] The present invention relates to a method for applying the laser ranging technology to the surface shape and the flow path of the volume. [Prior Art] Blast furnace is a complex large-scale chemical reactor. The reaction process is mainly a series of redox reactions of iron oxide and coke. These chemical reactions
應的效率決定於高爐中高溫氣流的分佈，而決定氣流=佈 的關鍵之一在於軟融帶（cohesive z〇ne)的形狀以及2寸 ’該軟融帶又由料面外形所決定’料，焦碳以及鐵積在 爐内分佈的位置與比例也會影響氣流的分佈，因此，古 fpj爐 的料面形狀以及料流軌跡在高爐運作過程中佔有極為重 的地位。 ~ 心力衣*兄而無法得 知爐内料面分佈形狀、以及佈料時料流的軌跡狀態等。斤 年來’有-些研究對於前述爐内料面形狀的量㈣出貢= ，這些研究所採用的方法大致上可區分為間接量測 量測，其中： # 間接量測法主要係先量測料流軌跡，再根據量測結果 積分出科面外形。惟此方法會因料流與爐壁撞擊、冰料 以及積分的精確性等因素的影響下，#法準確計算：料、 外形。 "、面 直接量測法主要係針對最後的佈料結果進行外妒旦 ，其中利用微波式距離量測裝置，於里 文得τ的咼爐中進行 4 1307719 料面的舞矜 置易受高^惟受到高溫的限制下’該微波式距離量測裝 【私：影響，以致無法提供-項較有效率的量測。 明内容】 本發明> + 高爐料面外$要目的在於提㈤種以雷射測距技術量測 技術無法對：：二流執跡的方法，希藉此設計’改善先前 流軌跡之問^ 效率精確量測爐内料面形狀以及料 :、、達成4揭目的，本發明所号4 + 測高爐料面外來&古土 -彳之以雷射測距技術量 r t的方法，主要係你用 ώΓ7工 於高爐料面 使用—部雷射掃描儀裝設 上方處，以及一部至少內邊机 腦，該電腦並t性 建點群分析程式之電 浞電性連接該雷射掃描儀， 电 以雷射掃描手段取得高爐内部資料之步驟： 係以雷射掃插儀斜古陡 科，站群資料之步驟， 義對间爐内進行空間掃轳 面點群的資料， 田，取得高爐内部表 ^ Ύ冉傳輸至電腦中；以及 衣 以遠些點群資料重建高爐料面模 内建的點群分析程式依據該些點群資科=驟，係由電腦 模型’而完成高爐料面形狀的量測。4出高爐内部的 本發明所設砷夕 D ^替射測距技術量洌古 方法，係使用前述以雷射測距技術量爐料流軌跡的 法測得該高爐内部之料面外形，另於兮：盧料面外形的方 至少一部二維雷射掃描儀，該二;：盧科面上方裝設 垂直於地面，且使自高爐頂部之佈：斗：福儀的掃描平面 跡可穿過該二維雷射掃描儀的：其内之料流軌 描儀量測料流上下表面的執跡。 ，轉以由該雷射掃 1307719 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 描儀快速、穩定 '準確以及高爐環境對其量測之影響小等 特性’並配合電腦的處理’使其應用於高爐料調查中對佈 料後料面以及料流轨跡提供一項準確而實用之量測方法。 【實施方式】 叙明以雷射測距技術量測高爐料面外形的方法The efficiency depends on the distribution of the high-temperature airflow in the blast furnace. One of the keys to determining the airflow = cloth is the shape of the soft-melt zone and the 2 inch 'the soft-melt zone is determined by the shape of the material.' The location and proportion of coke and iron accumulation in the furnace also affect the distribution of airflow. Therefore, the shape and flow path of the ancient fpj furnace occupy an extremely important position in the operation of the blast furnace. ~ Heart-clothing * Brother can not know the distribution shape of the material surface in the furnace, and the trajectory state of the material flow during the cloth. In the past few years, there have been some studies on the amount of shape in the furnace (4). The methods used in these studies can be roughly divided into indirect measurements, where: # Indirect measurement is mainly measured first. The flow trajectory is integrated into the shape of the face according to the measurement result. However, this method will accurately calculate the material and shape due to the influence of the flow and the impact of the furnace wall, the ice material and the accuracy of the integral. ", the direct measurement method is mainly for the final fabric results, which use the microwave distance measuring device, in the τ 得 τ τ τ 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 High ^ is subject to the high temperature limit 'the microwave distance measurement installed [private: the impact, so that can not provide - item more efficient measurement. Ming content] The present invention> + blast furnace material out-of-surface is intended to provide (five) kinds of laser ranging technology measurement technology can not be:: second-rate obstruction method, in order to design 'improve the previous flow trajectory ^ Efficiency and accurate measurement of the shape and material of the material in the furnace, and the achievement of the 4th, the method of the 4 + blast furnace surface of the invention is the external & ancient soil-彳 method of laser ranging technology rt, mainly You use the ώΓ7 work on the blast furnace surface to use the laser scanner to install the upper part, and at least the inner side of the brain, the computer and the t-point group analysis program electrically connected to the laser scanner The steps of obtaining the internal data of the blast furnace by laser scanning means: the steps of the laser sweeping instrument oblique ancient steep section, the station group data, the space sweeping point group in the furnace, the field, obtained The internal table of the blast furnace is transferred to the computer; and the point group analysis program built in the blast furnace material surface model is reconstructed according to the point group data. According to the point group, the blast furnace surface is completed by the computer model. Measurement of the shape. 4 out of the blast furnace interior of the present invention, the method of measuring the arsenic D ^ ^ 测 测 测 测 , 替 替 替 ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ D D D D D D D D D D D D D兮: At least one two-dimensional laser scanner on the surface of the Lu surface, the second;: The top of the Luke surface is installed perpendicular to the ground, and the cloth from the top of the blast furnace: bucket: Fuyi's scanning plane can be worn Through the two-dimensional laser scanner: the flow tracker therein measures the execution of the upper and lower surfaces of the stream. By the laser scanning 1307719, the invention adopts the foregoing method for measuring the shape of the blast furnace material surface by laser ranging technology and the method for constructing the flow stream, and its design is mainly fast and stable by using a laser scanner. Accurate and the characteristics of the blast furnace environment to its small measurement 'and with the computer's processing' make it an accurate and practical measurement method for the material surface and flow trajectory of the blast furnace. [Embodiment] A method for measuring the shape of a blast furnace surface by a laser ranging technique is described
之具體貫施設計，如笛__同挪-^ τ如第圖所不，其主要係使用一部三維 雷射掃描儀裝設於吝擔夕利_ ;u七由 又於-爐之枓面上方處’於本較佳實施例中 序…亥雷射知描儀傾斜裝設於該高爐爐喉上方之 如第-圖所示，其中因高爐之料層是由下往上堆積 爐的人孔是位於料位線…2·5公尺處，=二: 雷：掃描儀的掃描範圍可以涵蓋高爐内之料位線以；：門 /三維雷射掃描儀以裝設於人孔處呈傾斜—預定H ’另使用-部至少内建有座 7 分析程式之電，該電腦並與該三維雷射；=及點群 ，再執行以下之步驟： “射“儀電性連接 以雷射掃描手段取得高爐内部資料 係以三维雷射掃描儀對高爐内進行三維空間；;:驟， 爐内部表面點群的區域 門％描，取得高 腦中。 搖糸統的三維資料，再傳輪至電 貝行點 群之座標系統進行棘植护τ 由電腦内建的座標系統轉換校正程式將^ :步驟，係 域座標系n维t j 點群之區 轉換為付合高爐世界座標系統 6 1307719 貝料點群之三維資料，該些資料點群之 ，可應用以爐壁對稱性為基礎 二、使換步驟 水平儀為基礎的校正手段來進行，使用電子式 之料對稱性為基礎的校正手段，係於高爐内 内部’以；取“候，*以該三維雷測掃描儀先量測高爐 電腦進行二Γ部分的資料點，如第二圖所示，進而由 出==理於爐體中定義出一主軸，其次，藉由找 二旦兩截圓的圓心’兩圓心的連線定義為向量A。 盘向置A在高爐本體的世界座標系統則為垂直軸卜A 料為兩座標系統之間的旋轉角度。將所有的點資 'Ζ·Α、 :cos' ㈣轴進行旋轉而使得旋轉後的主轴與地面垂直 轉轴可表示為繞向量^ = ¾，旋轉角度〜 =的量測‘胃"繞向量κ轉動_θ，即可將三維雷射掃描 儀測得所有資料點之三維資料透過 方矛王式 P . Q，=(Q_K)K(1 —c〇s 的+ Qc〇s0_(Kx⑵如 Θ 轉換至世界座標系統上之三維資料。 ^所述之使用電子式水平儀為基礎的校正手段，係適用 於咼爐内之料位較高時，或爐壁因侵蝕而對稱性較差時， 因此時上述以爐壁對稱性為基礎的校正手段使用的方法無 1產生準確的資料點轉換，故本校正手段係於該三維雷射 知描機上裝一電子式水平儀直#量測傾斜肖度，此傾斜角 即為前述向量八與2的夾角’即可將三維雷射掃描儀測得 所有資料點之三維資料透過 方程式 P : Q，=(Q.K輝— c〇s0) + Qe〇s0_(KxQ)sin0 1307719 轉換至世界座標系H維資料。 以及以該些眘料α Μ 一 的二維資料重建三維模型並加以分 ;:、/、爐壁量測資料點之步驟，係由電腦内建的點群分 程式將已轉換校正為世界座標线的資料點群重建出高 爐内内部的三維模型， 料點，其中依高"二:Γ割出屬於爐壁部份之資 料面女夕、此^ 于知/、在幾何上是一個圓錐體，而 布於高爐的井内部位（Shaft )，因此位於古 爐井位部位的資料點㈣具有如下的關係：□此位於- {Z~Zc?=：a%x-^c)2+{Y~YcY) J：中（Ic,yc，Zr) & π /、Τ 為圓錐體的頂點，β為圓錐的„ A / 响le)。以爐胸的資料點進…為圓錐的開角— 式中的四個來數，：Γ‘:Γ 擬合可以找出上述程 除與圓錐體相當靠近的資 I果中剔 進而於三維模型中分離出料面…群， 狀的量測，H此，M " 兀成向爐料面形 -批佈料的結構作最後的判斷。 、方法，用於對每 一本毛月藉由則述南爐料面形狀量測方法設" -層鐵鑛以及每一層焦炭佈料之後，利用节二測方：於每 測得其料面形狀，並將料面資料 資法分別 依據:於料面形狀的資料點透過電腦計；::::後， 及鐵礦/焦戾比等重要体料“出焦厌ι縮率以 焦戾歷縮率之計算均是以體積曾'鐵镑/焦戾比以及 所測得的料面資料點之資料數據進：二礎，目此，首先以 接著進行數值積分以計算出相鄰兩：：點的建立與修補， 相鄰兩枓面所夹的體積。如第 8 1307719 四圖所示’其分別依序堆積三層料面鐵礦％、舞 鐵礦〇N，由鐵礦。N與焦炭Cn的料面資料可以二= 前焦炭的體積V]，而由鐵礦〇 ^ ^ 、υΝ + 1的料面可斗曾 出已壓縮I、炭加上鐵礦的體冑ν2。鐵礦的 ^ ，則被壓縮的焦炭體積可裊 為V〇 。 槓τ表不為v2-v。。壓縮率則 V' 有關：礦/焦炭比的計算方式，如第五圖所示 對母—個格點所在的位置⑴都可計算出焦炭 C、、The specific design of the design, such as the flute __同同-^ τ as shown in the figure, is mainly used in a three-dimensional laser scanner installed in the 吝 夕 利 _ _ _ _ _ _ _ _ _ _ _ _ In the upper part, in the preferred embodiment, the slanting device is mounted on the blast furnace throat as shown in the first figure, wherein the blast furnace material layer is from the bottom up stacking furnace The hole is located at the material level line...2·5 meters, =2: Ray: The scanning range of the scanner can cover the material level line in the blast furnace; the door/3D laser scanner is installed at the manhole Tilt-predetermined H 'Other use-partially built at least 7 analysis program power, the computer and the three-dimensional laser; = and point group, then perform the following steps: "shoot" the instrument is electrically connected to the laser The scanning means obtains the internal data of the blast furnace to carry out a three-dimensional space in the blast furnace by using a three-dimensional laser scanner;;: the central gate of the inner surface point group of the furnace is drawn, and the high brain is obtained. Shake the three-dimensional data, and then pass the wheel to the coordinate system of the electric bee-point group to perform the spine protection τ. The computer-built coordinate system conversion correction program will be ^: step, the system coordinate system is the n-dimensional tj point group area It is converted into three-dimensional data of the blast furnace world coordinate system 6 1307719. The data points can be applied based on the symmetry of the furnace wall, and the correction method based on the step level is used. The symmetry-based correction method is based on the inside of the blast furnace; taking "waiting, * using the three-dimensional radar scanner to measure the data points of the blast furnace computer, as shown in the second figure. Then, a major axis is defined by the == rationality in the furnace body, and secondly, by finding the center of the two rounds and two circles, the line connecting the two centers is defined as the vector A. The disk orientation A is in the world coordinate system of the blast furnace body. Then the vertical axis A is the rotation angle between the two coordinate systems. All the points 'Ζ·Α, :cos' (four) axis are rotated so that the rotated main axis and the ground vertical axis can be expressed as a winding vector. ^ = 3⁄4, rotation angle ~ = Measure the 'stomach' and rotate the _θ around the vector κ to measure the 3D data of all data points through the 3D laser scanner. The square spear is P. Q,=(Q_K)K(1 —c〇s + Qc〇s0_(Kx(2) such as Θ Convert to 3D data on the world coordinate system. ^The electronic level-based calibration method described above is applicable when the material level in the furnace is high, or the furnace wall is eroded. When the symmetry is poor, the method used in the above-mentioned correction method based on the symmetry of the furnace wall does not produce an accurate data point conversion. Therefore, the correction method is to install an electronic level meter on the three-dimensional laser rayographer. #Measure the tilting degree, which is the angle between the above vector eight and 2'. The three-dimensional data of all data points measured by the three-dimensional laser scanner can be transmitted through the equation P: Q, = (QK Hui - c〇s0 + Qe〇s0_(KxQ)sin0 1307719 Convert to the H coordinate data of the world coordinate system. And reconstruct the 3D model with the two-dimensional data of the caution material α Μ 1 and divide it;:, /, the wall measurement data point The step is to correct the conversion to the world seat by the point group program built into the computer. The data point group of the marking line reconstructs the three-dimensional model inside the blast furnace, and the material points, which are high according to the "two: cutting out the data part of the wall part of the female eve, this ^ know / / is geometrically a The cone is placed in the well of the blast furnace (Shaft), so the data point (4) located in the well location of the ancient furnace has the following relationship: □ This is located at - {Z~Zc?=:a%x-^c)2+ {Y~YcY) J: Medium (Ic, yc, Zr) & π /, Τ is the apex of the cone, β is the cone „ A / ring le). Click on the data of the chest to...the opening angle of the cone—the four numbers in the formula: Γ': Γ The fitting can find out that the above process is close to the cone and the result is in the three-dimensional model. In the separation of the material surface... group, the measurement of the shape, H, M " 兀 向 向 向 向 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 And method, for each of the gross months, by using the method for measuring the shape of the surface of the south furnace, and then designing a layer of iron ore and each layer of coke cloth, using the second measuring method: each measured surface Shape, and the material information of the material surface is based on: the data point of the material shape is measured by computer; after::::, and the important material such as iron ore/ankle ratio The calculation of the rate of shrinkage is based on the data of the volume of the 'iron pounds/focal turns ratio and the measured material data points: the second basis, for this purpose, first carry out numerical integration to calculate the adjacent two: : The establishment and repair of the point, the volume of the adjacent two sides. As shown in Figure 4, 1307719, the four layers of iron ore are distributed in sequence, and the iron ore is n. The surface data of coke Cn can be two = the volume of the former coke V], while the surface of the iron ore ^ ^ ^, υΝ + 1 can be used to compress the I, the carbon plus the iron ore body 胄 ν2. The volume of the compressed coke can be reduced to V〇. The bar τ is not v2-v. The compression ratio is V' related: the calculation method of the mine/coke ratio, such as As shown in FIG five of the mother - a position where the lattice points can be calculated ⑴ coke C ,,
Lc2、…以及鐵礦層厚L 〇 Cl'Lc2,... and iron ore layer thickness L 〇 Cl'
如〇)可表示為g。 ...鐵礦/焦炭比（0/C 本發明以雷射測距技術 續前揭高爐料面形狀量測之後作接 七圖所示，其中俜於古全 古弟v、、 係於间爐（1 0)料面上方處罗〜， 部二維雷射掃描儀，於本較 ”盧喉上方左右兩側之…"中你、於南爐（1 0 儀（30)，該二部"各再裝設-部二維雷射掃描 垂直於地面，而高爐儀（2〇)的掃描平面 ，使自佈料斗（4 J ; : ( 4 0 )係架設於高爐項部 穿過該二二維雷射掃=爐（1 0 )内之料流執跡可 別由左右兩雷射掃㈧的掃描平面時’即可分 下流*之料流上下1二：0)量測自佈料斗"㈧向 線可定義出落料曲線。跡’由上τ兩軌跡所代表的曲 前述中，由於兩雷射掃描儀各有其區域座標系統，分 9 1307719 另J為左區域座標系統（LCS )與右區域座標系統（RCS )。 統；料机執跡的上下兩曲線分別對應至左、右區域座標系 =LCS、KCS ) ’必須校正出該兩座標系統之間的關係， 才此結合上下表面軌跡的座標點。該二區域座標系統（ * RCS )之間的關係可用三個參數&，&以及$表示， *由包子式水平儀可以量測0。另可在任一邊雷射掃描 ^上女裝反光板’可以由另—邊測得的反光板位置校正出 7據此，即可明顯量測到落料曲線，並透過電腦 “於爐内一維模型中’提供操作人員確認所落下的料是 Z落在原本設定的位置，而操作人黃亦依據該量測所得之 料曲線及洛料位置，進而修正佈料角度與佈料圈數。 【圖式簡單說明】 第一圖係本發明以雷射測距技術量測高爐料面 法之一較佳實施例之流程示意圖。 v勺 弟一圖係本發明於高 '丨虐3·· , a 知 同壢之人孔處裝設三維雷射德& 之平面示意圖。 Μ知插儀 第三圖係本發明量測爐體取得旋轉角度之平 。 不意圖 第四圖係本發明揭示依序鐵礦、焦炭以及 — 料面之平面示意圖。 、寺〜層 第五圖係本發明揭示數層 意圖。 ’'焦、厌之尽度之平面示 第六圖係本發明使用之二維雷射㈣儀之平面^ 第七圖係本發明於高爐左右兩側各設—部二維雷： 10 1307719 描儀應用於量測料流軌跡之平面示意圖。 【主要元件符號說明】 (1 〇 )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Such as 〇) can be expressed as g. ...iron ore/coke ratio (0/C) The invention is based on the laser ranging technology and the measurement of the shape of the blast furnace surface is shown in Fig. 7, which is the same as the ancient ancient v. Above the surface of the furnace (10), a two-dimensional laser scanner, in the upper and lower sides of the "Luo throat", "You", Yunan furnace (1 0 meter (30), the second Department " Re-installation - part of the two-dimensional laser scanning perpendicular to the ground, and the scanning plane of the blast furnace (2 〇), so that the cloth hopper (4 J ; : ( 0 0 ) is erected in the blast furnace The flow of the two-dimensional laser sweep = furnace (1 0) can be measured by the scanning plane of the left and right lasers (eight), which can be measured by the flow of the lower stream *1:0:0) The cloth bucket"(8) can define the blanking curve for the line. The track is represented by the upper τ two tracks. Since the two laser scanners each have their regional coordinate system, the points are 9 1307719 and the other J is the left area coordinate. System (LCS) and right area coordinate system (RCS). The upper and lower curves of the material machine are respectively corresponding to the left and right area coordinate system = LCS, KCS) 'The two coordinate system must be corrected The relationship between the two is combined with the coordinate points of the upper and lower surface trajectories. The relationship between the two-region coordinate system ( * RCS ) can be expressed by three parameters &, & and $, * can be measured by the bun level In addition, the laser reflector on either side can be corrected by the position of the reflector measured by the other side. According to this, the blanking curve can be clearly measured and passed through the computer. In the dimension model, 'providing the operator to confirm that the falling material is Z falls in the originally set position, and the operator Huang also corrects the cloth angle and the number of fabrics according to the measured material curve and the loft position. BRIEF DESCRIPTION OF THE DRAWINGS The first figure is a schematic flow chart of a preferred embodiment of the method for measuring the surface of a blast furnace by a laser ranging technique. The first figure of the present invention is based on the present invention. , a schematic diagram of the three-dimensional laser de amps installed in the hole of the same person. The third diagram of the Μ 插 仪 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 本 。 。 。 。 Sequential iron ore, coke, and – flat surface The fifth figure of the temple ~ layer is disclosed in the present invention. ''The plane of the focus of the focus, the sixth figure is the plane of the two-dimensional laser (four) instrument used in the present invention. Invented on the left and right sides of the blast furnace - 2D Ray: 10 1307719 The schematic diagram of the trajectory applied to the measurement of the flow trajectory. [Main component symbol description] (1 〇) blast furnace (20) three-dimensional laser scanner ( 3 0 ) 2D laser scanner (4 0) cloth bucket
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