WO2023000540A1

WO2023000540A1 - Method and terminal device for measuring burden surface profile of blast furnace, and storage medium

Info

Publication number: WO2023000540A1
Application number: PCT/CN2021/128112
Authority: WO
Inventors: 欧燕; 严晗; 叶理德; 秦涔; 崔伟; 方明新; 闫朝付
Original assignee: 中冶南方工程技术有限公司
Priority date: 2021-07-23
Filing date: 2021-11-02
Publication date: 2023-01-26
Also published as: CN113608207A

Abstract

Provided are a method for measuring a burden surface profile of a blast furnace, a terminal device for measuring a burden surface profile of a blast furnace, and a computer-readable storage medium. The method comprises: S1, measuring the position of a burden surface in a blast furnace by means of a ranging radar, which is mounted at the top of the blast furnace; S2, pre-processing radar ranging data of the burden surface that is obtained by means of measurement, and eliminating abnormal data from the radar ranging data; S3, converting the radar ranging data into coordinate data in a corresponding XY rectangular coordinate system; and S4, by means of a Kriging interpolation method, fitting a burden surface profile by using the coordinate data. By means of the method, complex arrangement of sensors is not required, thereby facilitating mounting and maintenance, and the method has a better measurement effect relative to general single-point radar measurement.

Description

A method for measuring the shape of blast furnace material surface, terminal equipment and storage medium

technical field

The invention relates to the technical field of blast furnace ironmaking detection, in particular to a method for measuring the shape of a blast furnace material surface, terminal equipment and a storage medium.

Background technique

As a closed container like a black box, the blast furnace has a complex internal environment and it is difficult to obtain information directly. In traditional technology, mechanical probes are generally used to collect data on the blast furnace charge level, but the measurement range is small and the data error is large, making it difficult to analyze the distribution of the charge level in the furnace. Later researches and developments have been made to monitor the blast furnace charge level by means of infrared imaging or other imaging methods. However, due to large temperature changes and a lot of dust on the top of the charge surface, this method has caused great interference, and it is difficult to accurately obtain the shape of the charge surface. Another part of the measurement method is to install a certain number of ranging radars in multiple positions on the furnace roof to obtain the approximate shape of the material surface. However, due to the large number of sensors and the complexity of the sensing system in this method, the installation and maintenance of multiple equipment Both bring difficulties to on-site operators, and it is difficult to guarantee the real-time performance of the system operation, or the number of sensors is too small to reflect the shape information of the material surface.

Contents of the invention

In order to solve the above problems, the present invention proposes a method for measuring the shape of a charge level of a blast furnace, a terminal device and a storage medium.

The specific plan is as follows:

A method for measuring the shape of a charge surface of a blast furnace, comprising the following steps:

S1: Measure the position of the blast furnace inner material level through the ranging radar installed on the top of the blast furnace;

S2: Preprocess the radar ranging data of the measured material surface, and eliminate the abnormal data in it;

S3: converting the radar ranging data into coordinate data in the corresponding XY rectangular coordinate system;

S4: Using kriging interpolation method, use the coordinate data to fit the material surface shape.

Further, the method of measuring the position of the material level in the blast furnace by the ranging radar is as follows: by controlling the rotation of the ranging radar, the ranging radar can measure the distance between the material level within the radius of the furnace throat and the ranging radar. Take measurements.

Further, the ranging radar includes two, and the two are installed above the furnace throat and on both sides of the same height.

Further, the radar ranging data includes the distance between the material surface and the ranging radar and the angle between the pointing of the ranging radar and the horizontal plane.

Further, the preprocessing method includes: setting the range of the radar ranging data according to the installation position of the ranging radar, thereby eliminating the radar ranging data not within the range; Radar ranging data whose wave strength is less than the echo strength threshold.

Further, the calculation formula for converting the radar ranging data into the coordinate data in the corresponding XY rectangular coordinate system is:

y ₀ ＝d ₀ sinα-h _r

Among them, x ₀ and y ₀ are the coordinate values of the X-axis and Y-axis in the coordinate data respectively, r represents the radius of the furnace throat, h _r represents the height from the installation position of the ranging radar to the zero material line, and h _l represents the upper boundary distance of the furnace throat The height of the zero material line, γ represents the angle between the upper furnace wall of the furnace throat and the horizontal plane, α represents the angle between the pointing of the ranging radar and the horizontal plane, and d ₀ represents the distance between the material level and the ranging radar.

Further, step S4 specifically includes the following steps:

S41: radially segment the material surface, set the X-axis coordinate range corresponding to each segment, and set each segment point as a point to be inserted;

S42: Calculate the distance d _ij = _xi -x _j between any two coordinate data x _i and x _j in the coordinate data, and group all the calculated distances according to the size of the distance; where, i=0,1, ..., n, j=0, 1, ..., n, n represents the total number of coordinate data, i and j represent the serial number of the coordinate data, x _i and x _j represent the coordinates of the i and j coordinate data in the X-axis direction respectively ;

S43: Calculate the average value d of all distances in each group, and calculate the estimated value γ ^* (d) of the semivariance function corresponding to each group according to the following formula:

Wherein, y( _xi ) and y( _xi +d) respectively represent the coordinates in the Y-axis direction when the X-direction coordinates are x _i and ( _xi +d);

S44: Construct the semivariogram function model as: γ(d)=c(1-e- ^d/r ), wherein, c and r are parameters in the semivariogram function model, and γ(d) represents the semivariogram operation, according to The semivariogram function model fits the estimated value γ ^* (d) of each corresponding semivariogram function to obtain the fitted semivariogram function model;

S45: Construct the following linear equations:

According to the fitted semivariogram function model and the formula r _ij =γ(d _ij ), calculate the semivariance r _ij of any two coordinate data x _i and x _j attributes, and then obtain the coefficient matrix in the linear equation system:

S46: For each point x ₀ to be inserted, calculate the semivariance r _i0 between x ₀ and the attribute of any coordinate data x _i , and then obtain the right array in the linear equation system corresponding to the point x ₀ to be inserted:

S47: Solve the linear equation system according to the coefficient matrix and the right array in the linear equation system, and obtain the weight array corresponding to the point x ₀ to be interpolated:

S48: For each point x ₀ to be inserted, according to the weight array corresponding to the point x ₀ to be inserted, calculate the estimated value of the point x ₀ to be inserted by the following formula

Wherein, y _i represents the coordinate in the Y-axis direction corresponding to x _i in the coordinate data.

A terminal device for measuring the shape of a blast furnace charge surface, comprising a processor, a memory, and a computer program stored in the memory and operable on the processor, and the embodiment of the present invention is realized when the processor executes the computer program The steps of the method described above.

A computer-readable storage medium. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the steps of the above-mentioned method in the embodiment of the present invention are implemented.

The present invention adopts the above technical solution, corresponding to the prior art, does not require complicated sensor arrangement, facilitates installation and maintenance, and has better measurement effect compared with general single-point radar measurement.

Description of drawings

FIG. 1 is a flowchart of Embodiment 1 of the present invention.

FIG. 2 is a schematic diagram of the measuring process of the ranging radar in this embodiment.

detailed description

To further illustrate the various embodiments, the present invention is provided with accompanying drawings. These drawings are a part of the disclosure of the present invention, which are mainly used to illustrate the embodiments, and can be combined with related descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, those skilled in the art should understand other possible implementations and advantages of the present invention.

The present invention will be further described in conjunction with the accompanying drawings and specific embodiments.

Embodiment one:

The embodiment of the present invention provides a method for measuring the shape of a charge surface of a blast furnace, as shown in Figure 1, the method includes the following steps:

S1: The position of the blast furnace inner material level is measured by the ranging radar installed on the top of the blast furnace.

The range-finding radar is adopted in this embodiment, and millimeter-wave radar is used. In other embodiments, those skilled in the art may also use other range-finding radars, which are not limited here.

As shown in Figure 2, the method for measuring the position of the material level in the blast furnace by the ranging radar in this embodiment is: by controlling the rotation of the ranging radar, the ranging radar can measure the material level and the material level within the furnace throat radius. The distance between the ranging radars is measured.

In this embodiment, it is preferable to set the distance measuring radar to include two, namely R ₁ and R ₂ , which are installed on both sides above the furnace throat at the same height. In other embodiments, only one ranging radar can be installed, and then the material surface shape on the other side (on the same diameter) can be obtained through symmetrical processing.

The scanning measurement of the material level by the ranging radar is multiple measurements along the radial direction of the throat within the radius of the throat. In this process, it is not required to scan at equidistant or equal angle steps. It is necessary to sample enough data and the distribution is not concentrated (random).

S2: Perform preprocessing on the radar ranging data obtained from the measurement of the material surface, and eliminate abnormal data in it.

In this embodiment, the radar ranging data includes the distance d ₀ between the material level and the ranging radar and the angle α between the pointing of the ranging radar and the horizontal plane.

The preprocessing method in this embodiment includes: setting the range of the radar ranging data according to the installation position of the ranging radar, thereby eliminating the radar ranging data not within the range; according to the set echo intensity threshold, eliminating the Radar ranging data whose echo intensity is less than the echo intensity threshold.

S3: Convert the radar ranging data into coordinate data (x _0, y ₀ ) in the corresponding XY rectangular coordinate system.

In this embodiment, the conversion formula is set as:

y ₀ ＝d ₀ sinα-h _r

Among them, x ₀ and y ₀ are the coordinate values of the X-axis and Y-axis in the coordinate data respectively, r represents the radius of the furnace throat, h _r represents the height from the installation position of the ranging radar to the zero material line, and h _l represents the upper boundary distance of the furnace throat The height of the zero material line, γ represents the angle between the upper furnace wall and the horizontal plane of the furnace throat.

It should be noted that, in the XY rectangular coordinate system, the X axis is parallel to the scanning direction of the ranging radar (the radial direction of the furnace throat), and the Y axis is the vertical direction.

Step S4 specifically includes the following steps:

Fitting method adopts Levenberg-Marquardt method in this embodiment;

S45: Construct the following linear equations:

The method of this embodiment is also applicable to the three-dimensional material surface shape measurement of multi-radar sensing. When multiple radars are used to measure the material surface from multiple angles, after collecting data, set the data dimension and Euclidean distance in the kriging method The measurement method can perform three-dimensional interpolation fitting on the material surface.

The embodiment of the present invention corresponds to the prior art, does not require complex sensor arrangement, facilitates installation and maintenance, and has better measurement effect compared with general single-point radar measurement.

Embodiment two:

The present invention also provides a terminal device for measuring the shape of a blast furnace charge level, including a memory, a processor, and a computer program stored in the memory and operable on the processor, and the computer program is implemented when the processor executes the computer program. Steps in the above method embodiment of Embodiment 1 of the present invention.

Further, as an executable solution, the terminal equipment for measuring the shape of the blast furnace charge level can be computing equipment such as desktop computers, notebooks, palmtop computers, and cloud servers. The terminal equipment for measuring the shape of the blast furnace charge level may include, but not limited to, a processor and a memory. Those skilled in the art can understand that the composition and structure of the above-mentioned blast furnace charge surface shape measurement terminal equipment is only an example of the blast furnace charge surface shape measurement terminal equipment, and does not constitute a limitation on the blast furnace charge surface shape measurement terminal equipment, and may include more than the above or fewer components, or combine some components, or different components, for example, the blast furnace charge surface shape measurement terminal equipment may also include input and output equipment, network access equipment, bus, etc., and this embodiment of the present invention does not limited.

Further, as an executable solution, the so-called processor can be a central processing unit (Central Processing Unit, CPU), and can also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application-specific integrated circuits ( Application Specific Integrated Circuit, ASIC), Field-Programmable Gate Array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc., and the processor is the control center of the terminal equipment for measuring the shape of the blast furnace charge level, and uses various interfaces and lines to connect the entire blast furnace charge Surface shape measurement of various parts of terminal equipment.

The memory can be used to store the computer programs and/or modules, and the processor realizes the high-level performance by running or executing the computer programs and/or modules stored in the memory and calling the data stored in the memory. Various functions of charge surface shape measurement terminal equipment. The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required by a function; the data storage area may store data created according to the use of the mobile phone, and the like. In addition, the memory can include high-speed random access memory, and can also include non-volatile memory, such as hard disk, internal memory, plug-in hard disk, smart memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card , flash card (Flash Card), at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.

The present invention also provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method in the embodiment of the present invention are implemented.

If the integrated modules/units of the blast furnace charge surface shape measurement terminal equipment are realized in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the present invention realizes all or part of the processes in the methods of the above embodiments, and can also be completed by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer When the program is executed by the processor, the steps in the above-mentioned various method embodiments can be realized. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a removable hard disk, a magnetic disk, an optical disk, a computer memory, and a read-only memory (ROM, Read-Only Memory) , Random Access Memory (RAM, Random Access Memory) and software distribution media, etc.

Although the present invention has been particularly shown and described in conjunction with preferred embodiments, it will be understood by those skilled in the art that changes in form and details may be made to the present invention without departing from the spirit and scope of the invention as defined by the appended claims. Making various changes is within the protection scope of the present invention.

Claims

A method for measuring the shape of a charge surface of a blast furnace is characterized in that it comprises the following steps:

S1: Measure the position of the blast furnace inner material level through the ranging radar installed on the top of the blast furnace;

S2: Preprocess the radar ranging data of the measured material surface, and eliminate the abnormal data in it;

S3: converting the radar ranging data into coordinate data in the corresponding XY rectangular coordinate system;

S4: Using kriging interpolation method, use the coordinate data to fit the material surface shape.
The method for measuring the shape of the charge surface of a blast furnace according to claim 1, wherein the method of measuring the position of the charge surface in the blast furnace by the ranging radar is: by controlling the rotation of the ranging radar, so that the ranging radar is on the furnace. The distance between the material level within the throat radius and the ranging radar is measured.
The method for measuring the shape of the charge level of a blast furnace according to claim 1, characterized in that: the distance measuring radar includes two, and the two are installed on both sides above the furnace throat and at the same height.
The method for measuring the shape of the charge level of a blast furnace according to claim 1, wherein the radar ranging data includes the distance between the charge level and the ranging radar and the angle between the pointing of the ranging radar and the horizontal plane.
The method for measuring the shape of the blast furnace charge surface according to claim 1, wherein the preprocessing method includes: setting the range of the radar ranging data according to the installation position of the ranging radar, thereby eliminating the radar ranging data not within the range. According to the set echo intensity threshold, the radar ranging data whose echo intensity is less than the echo intensity threshold is eliminated.
The method for measuring the shape of the charge surface of a blast furnace according to claim 1, characterized in that: the calculation formula for converting the radar ranging data into coordinate data in the corresponding XY Cartesian coordinate system is:

y 0 ＝d 0 sinα-h r

Among them, x 0 and y 0 are the coordinate values of the X-axis and Y-axis in the coordinate data respectively, r represents the radius of the furnace throat, h r represents the height from the installation position of the ranging radar to the zero material line, and h l represents the upper boundary distance of the furnace throat The height of the zero material line, γ represents the angle between the upper furnace wall of the furnace throat and the horizontal plane, α represents the angle between the pointing of the ranging radar and the horizontal plane, and d 0 represents the distance between the material level and the ranging radar.
The method for measuring the shape of the charge surface of a blast furnace according to claim 1, wherein step S4 specifically comprises the following steps:

S41: radially segment the material surface, set the X-axis coordinate range corresponding to each segment, and set each segment point as a point to be inserted;

S42: Calculate the distance d ij = xi -x j between any two coordinate data x i and x j in the coordinate data, and group all the calculated distances according to the size of the distance; where, i=0,1, ..., n, j=0, 1, ..., n, n represents the total number of coordinate data, i and j represent the serial number of the coordinate data, x i and x j represent the coordinates of the i and j coordinate data in the X-axis direction respectively ;

S43: Calculate the average value d of all distances in each group, and calculate the estimated value γ * (d) of the semivariance function corresponding to each group according to the following formula:

Wherein, y( xi ) and y( xi +d) respectively represent the coordinates in the Y-axis direction when the X-direction coordinates are x i and ( xi +d);

S44: Construct the semivariogram function model as: γ(d)=c(1-e- d/r ), wherein, c and r are parameters in the semivariogram function model, and γ(d) represents the semivariogram operation, according to The semivariogram function model fits the estimated value γ * (d) of each corresponding semivariogram function to obtain the fitted semivariogram function model;

S45: Construct the following linear equations:

According to the fitted semivariogram function model and the formula r ij =γ(d ij ), calculate the semivariance r ij of any two coordinate data x i and x j attributes, and then obtain the coefficient matrix in the linear equation system:

S46: For each point x 0 to be inserted, calculate the semivariance r i0 between x 0 and any coordinate data x i attribute, and then obtain the right array in the linear equation system corresponding to the point x 0 to be inserted:

S47: Solve the linear equation system according to the coefficient matrix and the right array in the linear equation system, and obtain the weight array corresponding to the point x 0 to be interpolated:

S48: For each point x 0 to be inserted, according to the weight array corresponding to the point x 0 to be inserted, calculate the estimated value of the point x 0 to be inserted by the following formula

Wherein, y i represents the coordinate in the Y-axis direction corresponding to x i in the coordinate data.
A terminal device for measuring the shape of a blast furnace charge surface, characterized in that it includes a processor, a memory, and a computer program stored in the memory and running on the processor, and the processor implements the computer program when executing the computer program. A step of the method according to any one of claims 1-7.
A computer-readable storage medium storing a computer program, characterized in that: when the computer program is executed by a processor, the steps of the method according to any one of claims 1-7 are implemented.