WO2021197166A1

WO2021197166A1 - Automatic slag pouring method and system for slag reserving process of converter

Info

Publication number: WO2021197166A1
Application number: PCT/CN2021/082759
Authority: WO
Inventors: 于艳; 蒋晓放; 吴亚明; 郑建忠; 严滨
Original assignee: 宝山钢铁股份有限公司
Priority date: 2020-03-31
Filing date: 2021-03-24
Publication date: 2021-10-07
Also published as: CN113528736A; CN113528736B

Abstract

Disclosed is an automatic slag pouring method for a slag reserving process of a converter. The method comprises: on the basis of a slag weight G1 generated in a smelting process of a converter and by using a target slag reserving amount G2 in smelting of a slag reserving process, determining a target slag pouring amount G0 = G1-G2; acquiring and storing a real-time image of a thermal-state slag flow in a slag pouring process of the converter, and determining a characteristic boundary of the real-time image; selecting a tracking area; calculating the area Si of slag in the tracking area in real time, and measuring the weight Gi of slag in a slag ladle in real time; when Si is greater than a set measurement threshold value Smin, on the basis of a slag weight change rate dGi/dt in the slag ladle, controlling a real-time tilting angular speed ωi of the converter, obtaining a real-time tilting angle of the converter according to the real-time tilting angular speed, and calculating the position of a slag ladle trolley such that the slag ladle can receive slag poured from the converter in real time; and when the difference value between the slag weight Gi in the slag ladle and the target slag pouring amount G0 is a preset deviation value, stopping the converter from tilting, and starting to roll back the converter. In addition, further disclosed in the present invention is an automatic slag pouring system for a slag reserving process of a converter.

Description

Method and system for automatic slag dumping of converter slag retention process

Technical field

The invention relates to a method and system for dumping slag, in particular to a method and system for automatically dumping slag in a converter slagging process.

Background technique

At present, in the world, the converter smelting of major steel plants basically adopts model steelmaking, which realizes the one-key operation of the blowing process, and as the converter automatic tapping technology has been put into use, the tapping process of the converter is also changed. The way of manual operation is changed to automatic operation, but the current slag dumping process is manual operation. In converter smelting, there is a so-called "converter slag retention process" which is widely used in converter steelmaking technology. The process utilizes iron oxide and calcium oxide from the final slag of the previous furnace to reduce the consumption of iron and steel materials and auxiliary materials. At the same time, it is beneficial to the formation of the early slag of the next furnace and helps the early dephosphorization. The characteristic of this process is that not all the slag is poured out when dumping the slag, but a certain amount of slag is reserved for the next smelting.

The converter slag dumping that usually adopts the slag retention process includes the following steps:

1) Drive the slag tank trolley (also called the slag bag trolley) to the position of receiving slag;

2) The converter is tilted, and the slag in the converter is poured out from the mouth of the large furnace;

3) Operate the slag pot trolley so that the slag is poured into the slag pot on the slag pot trolley;

4) After reaching the target slag retention requirement of the steel grade "slag retention process", stop the slag dumping;

5) Shake the converter back to the vertical position to complete the entire slag dumping process.

It should be pointed out that the viscosity of the slag is related to the characteristics of steel smelting and the slag making process. The viscosity of the slag is different, the speed of the slag flowing out and the location of the drop point are also different. Therefore, in the slag dumping process of the existing converter, it is currently relying on manual operation of the converter tilting, while observing the falling point of the slag flow to move the position of the slag tank trolley to ensure that the converter tilting and the slag tank trolley are completed. Accurate matching.

However, such operations have high technical requirements for the operators, and there is a risk that the slag will pour out of the slag pot due to improper operations by the operators, which may cause safety accidents. In addition, smoke and splashing will be generated during the slag dumping process, which has higher requirements for personnel safety protection.

The publication number CN103397134A, the publication date is November 20, 2013, and the Chinese patent document titled "A method for calculating the amount of slag retained according to the tilt angle" discloses a method of calculating the amount of slag retained. This method is to tilt the converter after the end of blowing. When the slag in the converter just flows out of the furnace mouth, record the tilt angle of the converter at this time. The tilt angle is the critical angle ɑ, which can be calculated by the critical angle ɑ The total volume of molten steel in the furnace is measured by the sub-lance to obtain the volume of molten steel in the converter. The tilting angle β of the converter after the slag pour is recorded to obtain the total volume of the remaining molten body, and finally combined with the lining erosion data provided by the lining measurement system Calculate the total volume of the melt in the furnace before the slag dumping and the volume of the dumped slag. The difference between the two is the volume of the slag remaining in the converter. According to the density of slag, the amount of slag remaining can be calculated. This method does not require additional monitoring and weighing equipment.

The publication number CN107502698A, the publication date is December 22, 2017, the Chinese patent document titled "Automated steelmaking method suitable for less slag smelting" discloses a calculation model for slag dumping and slag retention. Slag dumping model: on the basis of the original automatic steelmaking model, the heat and oxygen balance calculation of the early slag is added, and the target alkalinity of the early stage is added. Based on the on-site smelting data and laboratory simulation, the best time interval for the early slag dumping will be added. In the early-stage blowing control of the model, different blowing times are calculated according to the different components of the molten iron. The establishment of the slag retention model is to add a slag weight weighing device on the slag truck to collect the weight of the slag dumped in the early stage and the end, and transfer the data to the automated steelmaking model through the first stage.

It should be noted that although the above-mentioned prior art discloses models for slag dumping and slag retention, the purpose of the model is only to improve the converter slag retention process, and does not involve how the converter slag retention process realizes automatic slag dumping. Although there is a converter automatic tapping technology in the prior art, it does not involve the converter fully automatic slag dumping technology. Automatic converter slagging is to pour the hot slag of the converter from the large furnace mouth of the converter, and the automatic converter tapping is to pour molten steel from the tapping mouth of the converter. Although both are automatic tilting converters and the trolley runs automatically, there are similarities, but the two technologies are essentially different. Therefore, it is necessary to adopt new technology to control and realize the automatic slag dumping of the converter slag retention process.

Summary of the invention

One of the objectives of the present invention is to provide an automatic slag dumping method for the converter slag retention process, which is simple and accurate in operation, safe and reliable, and has wide applicability, which can effectively replace the manual operation of the prior art The method effectively improves the slag dumping success rate, shortens the slag dumping time, reduces the labor intensity of related operators, reduces the probability of potential accidents, and improves the working environment.

In order to achieve the above objectives, the present invention proposes a method for automatic slag dumping in a converter slag retention process, which includes:

Based on the slag weight G ₁ produced in the converter smelting process and the target slag remaining amount G _{2 in} smelting using the slag-retaining process, determine the target slag dumping amount G ₀ =G ₁ -G ₂ ;

Collect and store real-time images of the hot slag flow during the converter slag dumping process;

Determine the characteristic boundary of the hot slag flow based on image recognition;

Based on the characteristic boundary of the hot slag flow, select the tracking area in the path of the hot slag flow falling from the furnace mouth to the slag pot;

Real-time computation of the track in the area of the slag S _i, and real-time detection of the weight of the slag pot residue G _i;

When the slag in the region of the tracking area S _i> detection threshold set S _min, based on the weight of the slag pot residue rate of change dG _i / dt, real-time control the converter tilt angular velocity ω _i, and in accordance with the The real-time tilting angular velocity obtains the real-time tilting angle θ _i of the converter. Based on the real-time tilting angle θ _{i of the} converter, the real-time position of the slag tank trolley is calculated. The slag pot on the tank trolley accepts the slag poured from the converter in real time;

When the difference between the slag weight G _{i in the} slag pot and the target slag _{dumping amount G 0} is the preset deviation amount, stop the converter tilting and start the converter rollback.

Here, the difference between the slag weight G _{i in the} slag pot and the target slag dumping amount G ₀ is the preset deviation amount, which means that the slag weight G _{i in the} slag pot can be greater than, less than or equal to the target slag dumping amount G ₀ , In actual production, the preset deviation depends on the accuracy requirements of each factory, and the preset deviation is generally within the range of ±0.5t to ±1t.

It should be noted that the "slag tank" mentioned in this technical solution can also be referred to as a "slag bag", and the concepts of the two are interchangeable.

In the above technical solution of the present invention, the automatic slag dumping method of the converter slag retention process can determine the start of slag dumping through image recognition, and control the angular speed of the automatic tilting of the converter according to the change rate of the weight of the slag pot to realize the automatic tilting; According to the real-time tilting angle of the converter and the position model of the slag tank trolley, the slag tank trolley can be automatically moved, and the automatic tilting of the converter and the slag tank trolley can be accurately matched. The method is simple and accurate to operate, safe and reliable, and has wide applicability. It can effectively replace the manual operation method of the prior art, improve the success rate of slag dumping, shorten the slag dumping time, and reduce the labor intensity of related operators and reduce potential accidents. Probability, improved working environment.

Further, in the automatic slag dumping method of the converter slagging process of the present invention, in the step of collecting and storing a real-time image of the hot slag flow during the converter slag dumping process, the real-time image includes: a visible light image One of, infrared image and far infrared image.

Further, the method of the present invention in a converter slag remain in deslagging process automatically, in real-time computation of the slag within the tracking area of the S _i, and real-time detection step G _i weight of the slag in the slag within the tank , Scanning the image in the tracking area line by line pixel by pixel, and summing the area of each pixel to obtain the area of the slag in the tracking area.

Further, in the automatic slag dumping method of the converter slag retention process of the present invention:

When the area Si of the slag in the tracking area S _i ≤ the set detection threshold S _min , control the tilting angular velocity of the converter to the set first angular velocity ω ₁ , at this time ω _i =ω ₁ ;

_{When the area S i} of the slag in the tracking area> the set detection threshold S _min , the tilting angular velocity of the converter is controlled to the set second angular velocity ω ₂ , and ω ₂ <ω ₁ , at this time ω _i = ω ₂ ;

_{When the area S i} of the slag in the tracking area> the set detection threshold S _min , and the slag weight G _{i in the} slag tank satisfies

And |G _i -G ₀ |>G _min to control the real-time tilting angular velocity of the converter

Where t represents the converter slag dumping time; G _min represents the preset deviation of the slag weight, which is the set value; k ₁ represents the change rate of the set slag weight; b represents the adjustment coefficient, and its value range is 0<b ≤1; when the slag weight G _{i in the} slag tank satisfies

And when |G _i -G ₀ |>G _min , the real-time tilting angular velocity ω _i =0 of the converter is controlled.

Further, in the method for automatic slag dumping in the converter slag retention process of the present invention, after the area Si of the slag in the tracking area S _i > the set detection threshold S _min , the slag weight in the slag tank changes according to Rate dG _i /dt, control the real-time tilting angular velocity of the converter, and obtain the real-time tilting angle of the converter according to the real-time tilting angular velocity, calculate the real-time position of the slag tank trolley based on the real-time tilting angle of the converter, and control the motor , Drive the slag tank trolley to the target position, so that the slag tank on the slag tank trolley can accept the slag poured from the converter in real time. In the above steps, the real-time position x _{i of the} slag tank trolley is determined according to the following model:

x _i = x ₀ + βθ _i

Among them, x ₀ represents the initial position of the traveling; β represents the adjustment coefficient, which ranges from 0.01 to 0.1, and the unit parameter is m/degree; θ _i = θ ₀ +ω _i t, where θ _i represents the real-time tilting angle of the converter , Θ ₀ represents the initial tilting angle of the converter, t represents the slag _{dumping time of the converter, and ω i} is the real-time tilting angular velocity of the converter.

In the above scheme, the real-time position x _i of the slag tank trolley can be determined according to the model, and the real-time travel displacement (x _i -x ₀ ) of the slag tank trolley is sent to the control system that controls the travel of the slag tank trolley, and the motor drives the slag tank. The tank trolley travels to the target position x _i determined according to the model, so that the slag tank can accurately receive the hot slag flow.

When |G _i -G ₀ |≤G _min , that is: within the control range of the target weight, the converter stops tilting; starts automatic reversing, and according to the set reversing model, the converter performs reversing until the converter returns to vertical Bit, the automatic slag dumping is over.

Correspondingly, another object of the present invention is to provide an automatic slag dumping system for the converter slag retention process. The automatic slag dumping system for the converter slag retention process is used for slag dumping, in addition to replacing the prior art manual slag dumping operation method In addition, it can effectively increase the success rate of slag dumping, shorten the time of dumping slag, improve the safety of dumping slag, reduce the probability of potential accidents, and improve the working environment.

In order to achieve the above objective, the present invention proposes an automatic slag dumping system for converter slag retention technology, which includes:

Converter

The converter tilting driving device is connected with the converter to drive the converter to tilt and perform the slag dumping action;

Converter tilt angle measuring device, used to measure the tilt angle of the converter;

The slag tank is set on the slag tank trolley;

The slag tank trolley position detection device is used to detect the real-time position of the slag tank trolley;

The weight sensor is arranged on the slag tank trolley and is used to detect the weight of the slag in the slag tank;

Image acquisition device for acquiring real-time images of the hot slag flow during the slag dumping process of the converter;

An image processing module for processing the real-time image;

The storage module is used to store the real-time image and/or the real-time image processed by the image processing module;

The image recognition and calculation module is used to recognize the real-time image to determine the characteristic boundary of the hot slag flow, and calculate the area of the slag in the selected tracking area in real time;

The control module is respectively connected with the converter tilt driving device, the converter tilt angle measuring device, the slag tank trolley, the position detection device of the slag tank trolley, the weight sensor, and the image recognition and calculation module, and the control module is set to: after the tracking area of the region within the slag S _i> detection threshold set S _min, based on the weight of the slag pot residue rate of change dG _i / dt, real-time control the converter tilt angular velocity ω _i, and real-time converter The tilting angular velocity obtains the real-time tilting angle θ _i of the converter, and calculates the real-time position of the slag pot trolley based on the real-time tilting angle of the converter so that the slag pot can accept the slag poured from the converter in real time; when the slag weight in the slag pot is G _i _{When the difference between the target slag dumping amount G 0} and the target slag dumping amount G 0 is within the preset deviation amount, stop the converter tilting and start the converter rollback.

Further, the automatic slag dumping system for the converter slag retention process of the present invention further includes a production process computer system connected to the control module, and the production process computer system sends converter smelting data to the control module.

In the above solution, the automatic slag dumping system for the converter slag retention process of the present invention also includes a production process computer system, which is connected to the control module and can send converter smelting data to the control module. Corresponding smelting information can be stored in the production process computer system, and the relevant information in the production process computer system can be calculated by using calculation methods commonly used in the prior art in the art to obtain the total slag weight, and obtain the target slag residue in the slag retention process In order to obtain the target amount of slag dumping.

Further, in the automatic slag dumping system of the converter slag retention process of the present invention, the image acquisition device includes one of a visible light camera, an infrared camera, and a far infrared camera.

Further, in the automatic slag dumping system of the converter slag retention process of the present invention, the converter inclination angle measuring device includes an encoder or an inclinometer.

Further, in the automatic slag dumping system of the converter slag retention process of the present invention, the slag tank trolley position detection device includes a non-contact distance meter.

Compared with the prior art, the method and system for automatic slag dumping of the converter slag retention process of the present invention have the following advantages and beneficial effects:

The method for automatic slag dumping of the converter slag retention process of the present invention is simple and accurate in operation, safe and reliable, and has wide applicability. In addition to replacing the manual operation method of the prior art, it can also effectively improve the success rate of slag dumping, shorten the slag dumping time, reduce the labor intensity of related operators, reduce the probability of potential accidents, and improve the working environment.

In addition, the automatic slag dumping system for the converter slag retention process of the present invention also has the above-mentioned advantages and beneficial effects.

Description of the drawings

FIG. 1 is a schematic structural diagram of a system for automatic slag dumping of a converter slag retention process provided by an embodiment of the application;

2 is a schematic flow chart of a method for automatic slag dumping of a converter slag retention process provided by an embodiment of the application;

FIG. 3 is a schematic diagram of the operation flow of the system for automatic slag dumping of the converter slag retention process provided by the embodiment of the application.

Detailed ways

In the following, the method and system for automatic slag dumping of the converter slagging process of the present invention will be further described according to the specific embodiments of the present invention and the accompanying drawings, but the description does not constitute an improper limitation of the present invention.

Fig. 1 is a schematic structural diagram of a system for automatic slag dumping of a converter slag retention process provided by an embodiment of the application.

As shown in FIG. 1, in this embodiment, the converter is connected to the converter tilting drive device, and the converter tilting drive device drives the converter to tilt to perform the slag dumping action;

When the converter starts the slag dumping operation, the converter is tilted so that the converter can be tilted from the vertical position to the slag dumping position at a certain angle to the ground. At this time, the tilting angle of the converter can be measured by the converter inclination angle measuring device. Among them, the converter The inclination measuring device may include an encoder or an inclinometer.

When the converter is dumped to the slag dumping position, the converter starts the slag dumping operation. The converter slag in the converter can flow from the large furnace mouth of the converter to the slag pot (also called slag trolley) on the slag pot trolley (also called slag trolley). Is the slag bag). Among them, in the process of performing the slag dumping operation, the weight sensor installed on the slag tank trolley can detect the weight of the slag flowing into the slag tank (also called the slag ladle) in real time. In addition, the image acquisition device can collect real-time images of the hot slag flow of the converter during the slag dumping process, and can transmit the collected real-time image data to a computer system. The computer system can include an image processing module, a storage module, image recognition and Calculation module and control module. In addition, the automatic slag dumping system for the converter slagging process of the present invention may include a slag tank trolley position detection device, and the slag tank trolley position detection device may include a non-contact distance meter. The position detection device of the slag tank trolley can be connected with the control module in the computer system to realize real-time monitoring of the position of the slag tank trolley, and detect the real-time position of the slag tank trolley, so that the slag tank is always aligned and receives hot slag flow.

In addition, the automatic slag dumping system for the converter slag retention process of the present invention also includes a production process computer system. The production process computer system can be connected to the control module in the computer system and can send converter smelting data to the control module.

It should be noted that the image processing module can process the real-time image of the hot slag flow, convert the real-time image of the hot slag flow into a grayscale image, and can binarize the grayscale image. The storage module can store the real-time image of the hot slag flow transmitted by the image acquisition device and the real-time image processed by the image processing module. The image recognition and calculation module can identify the real-time image, determine the characteristic boundary of the hot slag flow, and calculate the area of the slag in the tracking area in real time. When in use, the image recognition and calculation module can first determine a tracking area. After the slag flow passes through the tracking area, the characteristic boundary of the hot slag flow is determined from the binarized image, and the area of the slag in the tracking area can be calculated in real time based on the characteristic boundary, which can realize the detection of the hot slag flow. Dynamic tracking. The control module can be connected to the converter, the converter inclination measurement device, the slag tank trolley, the position detection device of the slag tank trolley, the weight sensor, and the image recognition and calculation module. The control module can be based on the real-time change of the hot slag flow and the weight of the slag. The control system for tilting to the converter outputs the angular velocity of tilting to automatically control the tilting of the converter. At the same time, the control module can also calculate the real-time position of the slag tank trolley according to the position model of the slag tank trolley, and then control the slag tank platform. The vehicle traveling control system inputs the real-time travel displacement of the slag tank trolley, and the motor of the slag tank trolley drives the slag tank trolley to travel to the target position determined according to the model, so that the slag tank can receive the hot slag flow dumped by the converter.

It should also be noted that because the temperature and color of the hot slag stream are very different from the temperature and color of the surrounding environment, the image acquisition device can be a visible light camera, an infrared camera, or a far-infrared camera. Collect real-time images of the slag flow during the converter slag dumping process, and the storage module stores the collected real-time images. The storage module can store the files continuously recorded by the image acquisition device in digital format to facilitate subsequent processing.

Fig. 2 is a schematic flowchart of a method for automatic slag dumping of a converter slag retention process provided by an embodiment of the application.

As shown in FIG. 2, in this embodiment, the automatic slag dumping method of the converter slag retention process of the present invention may include the following contents:

_{Calculate the weight of slag G 1} produced in the converter smelting process through the relevant information in the computer system of the production process;

_{Specifically, the production process computer system can store corresponding smelting information, and the slag weight G 1} can be calculated by using the relevant information in the production process computer system by using a calculation method commonly used in the prior art in the art. Commonly used calculation methods in the prior art in this field may include: manganese element balance method, phosphorus element balance method, and calculation of the slag weight G ₁ based on the added amount of lime, dolomite or ore.

_{Obtain the target slag retention G 2} in the smelting steel slag retention process through the computer system of the production process;

Specifically, the target slag residue required by the slag smelting process can be directly read through the production process computer system, and the target slag residue is determined by the slag smelting process.

Determine the target slag dumping amount G ₀ , G ₀ ＝G ₁ -G ₂ ;

Using image recognition method to determine the characteristic boundary of hot slag flow;

In the path of the hot slag flow falling from the furnace mouth to the slag pot, a tracking area is selected, the image of the tracking area is scanned line by pixel, and the area of each pixel is summed to obtain the slag in the tracking area The area S _i ; adjust the tilting angular velocity of the converter according to the area of the detected slag;

The weighing system on the slag tank trolley detects the weight of the slag poured into the slag tank in real time, and according to the slag weight change model, controls the angular velocity of the converter's automatic tilting to realize the converter's automatic tilting;

According to the real-time tilting angle of the converter and the traveling position model of the slag tank trolley, the real-time position of the slag tank trolley is calculated, and the real-time travel displacement of the slag tank trolley is input to the control system that controls the traveling of the slag tank trolley. The motor of the trolley drives the slag tank trolley to the target position determined according to the model, so that the slag tank can receive the hot slag flow dumped by the converter;

_{Detect the slag weight G i in the} slag tank on the slag tank trolley in real time and compare it with the target slag _{dumping amount G 0.} When |G _i -G ₀ |≤G _min , that is, the converter stops within the control range of the target weight Tilt

Specifically, it should be noted that G _i represents the real-time weight of the slag in the slag pot, G ₀ represents the target slag dumping amount, and G _min represents the preset deviation amount of the slag weight control. The unit parameters of G _i , G ₀ and G _min, and G ₁ and G ₂ can all be kilograms (kg).

After the converter stops tilting, it will start the automatic reversing. According to the set reversing model, the converter will re-shake until the converter returns to the vertical position, and the automatic slag dumping ends.

In addition, it should be noted that to determine the characteristic boundary of the hot slag flow based on image recognition, a variety of image boundary recognition methods known in the art can be used. In this embodiment, only one of the practicable methods is used. For example, the real-time image of the hot slag flow can be converted into a grayscale image. Due to the poor environment of the slag dumping process, there is smoke and dust, and the image is not clear. Therefore, the grayscale image can be enhanced. For example, the existing technology can be used. Gradient sharpening method in the image enhancement. Then the gray image can be denoised and binarized. The denoising can be done by using an image denoising algorithm based on discrete cosine transform, because the noise of the image is in the discrete cosine transform result. In the high frequency part, the amplitude is generally very small, so the noise suppression of the image can be achieved. The binarization processing can be processed by a special function program, for example, Metlab or OpenVC, or other methods known to those skilled in the art can be used.

It should be noted that the selected position of the target object can be on the path through which the hot slag flow passes, and the tracking area can be selected with a fixed box, and then the characteristic boundary of the tracking area is determined, due to the color and temperature of the hot slag flow The temperature and color of the background environment are very different, and the boundary between the hot slag flow and the background can be used as the characteristic boundary. In the step of using the image recognition method to determine the characteristic boundary of the hot slag flow, in order to accurately determine the boundary position of the hot slag flow, mathematical algorithms can be used to detect the characteristic boundary. The boundary detection algorithm can use existing technologies, such as Laplace operator, Sobel operator, or Canny operator. In the path of the hot slag flow falling from the converter mouth to the slag pot, after selecting a tracking area, the image of the tracking area can be scanned line by line and pixel by pixel to obtain the position identification of the hot slag flow of each pixel on the entire image value, the tracking area may be further heat the slag flow state occupied by pixel summation, calculating slag in the tracking area of S _i.

As shown in Figure 3, in this embodiment, the converter position is in the vertical position, confirm that the slag tank trolley has been cleared at the starting position (ie 0), and the displayed weight of the slag tank trolley is cleared (the weight is 0kg) , The converter terminates blowing, and the equipment and public auxiliary conditions of the related system (referring to the normal state of the equipment hydraulic pressure and lubricating oil) meet the slag dumping conditions. Click the "automatic slag dumping start" button, the converter will automatically tilt according to the tilting model. The image acquisition device installed at the slag dumping site can record the video of the hot slag flow in real time and transmit the signal to the storage module of the computer system. Perform digital continuous storage.

In this implementation manner, it can be specifically implemented as follows:

During the converter slag dumping operation, press the converter "automatic slag dumping start" button, the converter will automatically tilt, and the tilt angle of the converter will automatically tilt according to the model of formula (1):

That is θ _i =θ ₀ +ω _i t(1), where θ _i represents the real-time tilting angle of the _{converter, θ 0} represents the initial tilting angle of the converter, and the unit can be degrees (°), and t represents the converter slag dumping time , Its unit can be seconds (s); ω _i represents the tilt angle velocity at different moments, and its unit can be degrees/second (°/s). At this time, the converter _{starts to tilt at the first angular velocity of ω 1} , and the tilt angle of the converter is θ ₁ =ω ₁ t, and the unit may be degrees (°).

Calculated in real time tracking area in the region of the slag, when there is hot slag flow out from the converter mouth, into the tracking area setting, in which case the tracking area can be calculated area S _i of the slag by an image recognition method.

When it is detected that S _i >S _min , it indicates that a hot slag flow has flowed into the tracking area. Among them, S _min represents the set detection threshold, and the technician can select and set the corresponding S _min according to the needs in the actual application. At this time, control the motor of the converter, the angular velocity of the converter tilting ω _i =ω ₂ , the second angular velocity ω _{2 is} determined according to different converter structures, tilting motor characteristics and operating habits, and ω ₂ <ω ₁ .

At this time, the weight of the slag in the slag pot is detected in real time. If the slag weight G _{i in the} slag pot satisfies

And under the condition of |G _i -G ₀ |>G _{min, then}

Real-time tilting speed of the converter

Among them, in formula (2), t represents the converter slag dumping time, and its unit can be seconds (s); k ₁ represents the set rate of change of slag weight, and its unit can be kilograms per second (kg/s); b Represents the adjustment coefficient, and its value range is 0<b≤1. b can be adjusted according to the specific converter equipment structure and actual production conditions. ω _i and the first angular velocity ω ₁ and the second angular velocity ω ₂ are the unit parameters of these angular velocities. It can be degrees per second (°/s).

And when |G _i -G ₀ |>G _min , the converter stops at the current position, ω _i =0;

In addition, as the tilt angle of the converter changes, the real-time position x _{i of the} slag tank trolley can be controlled based on the model of formula (3):

x _i = x ₀ + βθ _i (3), where x ₀ represents the initial position of walking; β represents the adjustment coefficient, and its value range is 0.01 to 0.1, and the unit parameter can be meter/degree (m/°).

According to the real-time position x _i of the slag tank trolley determined by the model, the real-time travel displacement (x _i -x ₀ ) of the slag tank trolley is sent to the control system that controls the slag tank trolley, and the motor drives the slag tank trolley to move. To the target position x _i determined according to the model, the slag tank can accurately receive the hot slag flow.

When the weight of the slag satisfies the condition of the formula |G _i -G ₀ |≤G _min , that is, when _{the difference between the slag weight G i in the} slag pot and the target slag _{dumping amount G 0} is the preset deviation amount, stop the pour Slag, the signal is sent to the motor of the converter tilting, and the converter starts to swing back to the vertical position. Rollback can be controlled according to the formula (4) model: θ _i =θ _max -ω _i t(4), where θ _max represents the converter angle at the end of slag dumping, and its unit can be degrees (°), and ω _i represents rollback Hourly converter angular velocity, t represents the time to raise the furnace, and its unit can be seconds (s).

It should be noted that those skilled in the art set the value of the _{converter tilting angular velocity ω i} according to the converter capacity, structure and operation process of each factory. The inclination angle of the converter can be rotated freely within the range of 360°. The definition of the positive or negative inclination angle or the inclination position is different according to the operating habits of each production line, but its setting does not affect the setting of the function model, that is to say, the applicability of the function model Wide, can be effectively applied to various production lines.

In summary, it can be seen that the automatic slag dumping method of the converter slag retention process of the present invention can determine the start of slag dumping through image recognition, and control the tilting angular velocity of the converter according to the rate of change of the slag weight in the slag pot to realize the converter Automatic tilting of the converter; according to the real-time tilting angle of the converter and the position model of the slag tank trolley, the slag tank trolley can be automatically moved, and the automatic tilting of the converter and the slag tank trolley can be accurately matched. The method is simple and accurate to operate, safe and reliable, and has wide applicability. It can effectively replace the manual operation method of the prior art, improve the success rate of slag dumping, shorten the slag dumping time, and reduce the labor intensity of related operators and reduce potential accidents. Probability, improved working environment.

It should be noted that the prior art part of the protection scope of the present invention is not limited to the embodiments given in this application document, and all prior art that does not contradict the solution of the present invention includes but is not limited to the previous Patent documents, prior publications, prior publications, etc. can all be included in the protection scope of the present invention.

In addition, the combination of various technical features in this case is not limited to the combination described in the claims of this case or the combination described in the specific embodiments. All technical features described in this case can be freely combined or combined in any way, unless Contradictions arise between each other.

It should also be noted that the above-listed embodiments are only specific embodiments of the present invention. Obviously, the present invention is not limited to the above embodiments, and the subsequent similar changes or modifications are those skilled in the art can directly derive or easily associate from the disclosure of the present invention, and they should all fall within the protection scope of the present invention. .

Claims

A method for automatic slag dumping in a converter slag retention process, which is characterized in that it comprises:

Based on the slag weight G 1 produced in the converter smelting process and the target slag remaining amount G 2 in smelting using the slag-retaining process, determine the target slag dumping amount G 0 =G 1 -G 2 ;

Collect and store real-time images of the hot slag flow during the converter slag dumping process;

Determining the characteristic boundary of the hot slag flow based on image recognition;

Based on the characteristic boundary of the hot slag flow, selecting a tracking area in the path of the hot slag flow falling from the furnace mouth of the converter into the slag pot;

Real-time computation of the track in the area of the slag S i, and real-time detection of the weight of the slag pot residue G i;

When the slag in the region of the tracking area S i> detection threshold set S min, based on the weight of the slag of the slag within the tank the rate of change dG i / dt, real-time control the converter tilt angular velocity ω i, and in accordance with the real-time converter tilt angle to obtain real-time speed of the tilting angle θ i, based on the real-time converter tilting angle θ i, the slag pot is calculated real-time position of the carriage, by controlling the motor driving the slag pot to the traveling dolly The target position, so that the slag tank can accept the slag poured from the converter in real time;

When the difference between the slag weight G i in the slag pot and the target slag dumping amount G 0 is a preset deviation amount, stop the converter tilting and start the converter rollback.
The method for automatic slag dumping of the converter slag retention process according to claim 1, wherein the real-time image includes one of a visible light image, an infrared image, and a far infrared image.
The converter as claimed in claim 1, automated method of leaving residue deslagging process, wherein, in said real-time computation of the track in the area of the slag S i, and real-time detection of the weight of the slag pot slag Step G i In this step, the image in the tracking area is scanned row by row and pixel by pixel, and the area of each pixel is summed to obtain the area of the slag in the tracking area.
The automatic slag dumping method of the converter slag retention process according to claim 1, characterized in that:

When the area Si of the slag in the tracking area S i ≤ the set detection threshold S min , control the tilting angular velocity of the converter to the set first angular velocity ω 1 , at this time ω i =ω 1 ;

When the area S i of the slag in the tracking area> the set detection threshold S min , the tilting angular velocity of the converter is controlled to the set second angular velocity ω 2 , and ω 2 <ω 1 , at this time ω i = ω 2 ;

When the area S i of the slag in the tracking area> the set detection threshold S min , and the slag weight G i in the slag tank satisfies
And |G i -G 0 |>G min to control the real-time tilting angular velocity of the converter
Where t represents the converter slag dumping time; G min represents the preset deviation of the slag weight, which is the set value; k 1 represents the rate of change of the slag weight; b represents the adjustment coefficient, and its value range is 0<b≤1; When the slag weight G i in the slag pot satisfies
And when |G i -G 0 |>G min , control the real-time tilting angular velocity ω i =0 of the converter.
The method for automatic slag dumping of the converter slag retention process according to claim 4, characterized in that the real-time position x i of the slag tank trolley is controlled according to the following model:

x i = x 0 + βθ i

Among them, x 0 represents the initial position of travel; β represents the adjustment coefficient, and its value range is 0.01～0.1; θ i = θ 0 +ω i t, where θ i represents the real-time tilting angle of the converter, and θ 0 represents the initial converter's initial position. Tilting angle, t represents the slag dumping time of the converter.
A system for automatic slag dumping of converter slag retention process, which is characterized in that it comprises:

Converter

A converter tilting drive device connected to the converter to drive the converter to tilt to perform a slag dumping action;

A converter tilt angle measuring device for measuring the tilt angle of the converter;

The slag tank is set on the slag tank trolley;

A slag tank trolley position detection device for detecting the real-time position of the slag tank trolley;

A weight sensor, arranged on the slag tank trolley, for detecting the weight of the slag in the slag tank;

An image acquisition device for acquiring a real-time image of the hot slag flow during the slag dumping process of the converter;

An image processing module for processing the real-time image;

The storage module is used to store the real-time image and/or the real-time image processed by the image processing module;

The image recognition and calculation module is used to recognize the real-time image to determine the characteristic boundary of the hot slag flow, and calculate the area of the slag in the tracking area in real time;

The control module is respectively connected with the converter tilting drive device, the converter tilt angle measuring device, the slag tank trolley, the position detection device of the slag tank trolley, the weight sensor, and the image recognition and calculation module , The control module is set to: when the area Si of the slag in the tracking area S i > the set detection threshold S min , based on the slag weight change rate dG i /dt in the slag pot, control the converter real-time tilt angular velocity ω i, and obtaining the real-time converter according to the tilt angle of the tilting angle of the real-time speed θ i, based on the real-time converter tilting angle θ i, the real-time position is calculated slag pot trolley, so that The slag pot accepts the slag poured from the converter in real time; when the difference between the slag weight G i in the slag pot and the target slag dumping amount G 0 is a preset deviation amount, the converter tilting is stopped and the converter rollback is started.
The automatic slag dumping system of the converter slag retention process of claim 6, further comprising a production process computer system connected to the control module, and the production process computer system sends converter smelting data to the control module .
7. The automatic slag dumping system for converter slag retention process according to claim 6, wherein the image acquisition device includes one of a visible light camera, an infrared camera, and a far infrared camera.
The automatic slag dumping system of the converter slag retention process according to claim 6, wherein the converter inclination angle measuring device comprises an encoder or an inclinometer.
The automatic slag dumping system of the converter slag retention process according to claim 6, wherein the slag tank trolley position detection device includes a non-contact distance meter.