JP6512408B2

JP6512408B2 - Method of estimating the temperature of hot metal

Info

Publication number: JP6512408B2
Application number: JP2015201765A
Authority: JP
Inventors: 広憲原; 川波　俊一; 俊一川波; 真導菊地; 政臣妹尾; 鎮彦池野
Original assignee: JFE Steel Corp
Current assignee: JFE Steel Corp
Priority date: 2015-10-13
Filing date: 2015-10-13
Publication date: 2019-05-15
Anticipated expiration: 2035-10-13
Also published as: JP2017075783A

Description

本発明は、金属溶湯、例えば溶銑等の温度を、ＣＣＤカメラで撮像した画像の輝度から推定する金属溶湯の温度推定方法に関するものである。 The present invention relates to a method of estimating the temperature of molten metal, for example, the temperature of molten metal, which is estimated from the luminance of an image captured by a CCD camera.

近年、溶銑のような金属溶湯をこれを収容した容器からさらに別の容器に移す際、該金属溶湯の温度を非接触状態で推定して求める方法が関心を集めている。その一例として、高炉下部の出銑口から流出する出銑流を連続的にＣＣＤカメラで撮像し、撮像した出銑流の画像中の溶銑部分の輝度から溶銑温度を算出する方法が知られている（例えば、特許文献１参照）。 In recent years, when transferring molten metal such as molten metal from a container containing the molten metal to another container, a method of estimating and determining the temperature of the molten metal in a non-contact state has attracted attention. As an example, a method is known in which a spout flow flowing out of a spout below the blast furnace is continuously imaged by a CCD camera, and the hot metal temperature is calculated from the brightness of the hot metal portion in the captured sputum image. (See, for example, Patent Document 1).

特許第４５８０４６６号明細書Patent No. 4580466

特許文献１に開示されている方法では、高炉出銑口で溶銑が数十分以上の長時間連続的に流出している際の溶銑温度を連続的に推定し、その溶銑の推定温度に基づき高炉操業を実施している。そのため、測定対象となる高炉出銑口での溶銑は、ＣＣＤカメラにより常にクリアに撮像できるため、実際の溶銑温度に対する溶銑推定温度の精度は高く保たれるという特徴がある。 In the method disclosed in Patent Document 1, the hot metal temperature is continuously estimated when the hot metal flows out continuously for several tens of minutes at the blast furnace outlet, and the temperature is estimated based on the estimated temperature of the hot metal. We are operating a blast furnace. Therefore, since the hot metal at the blast furnace outlet to be measured can always be clearly imaged by the CCD camera, the accuracy of the hot metal estimated temperature with respect to the actual hot metal temperature is kept high.

一方、出銑後の金属溶湯を、さらに、一の容器から他の容器、例えば溶銑鍋のような高炉鍋から装入用取鍋などへ移す場合にも、取り扱うべき金属溶湯の温度管理が必要である。即ち、その金属溶湯の温度をＣＣＤカメラで撮像し、得られた画像の輝度から温度を推定するのである。例えば、高炉鍋から装入鍋に受銑中の溶銑をＣＣＤカメラで撮像し、得られた画像からその温度を推定する場合は、高炉鍋内部の耐火物表面あるいは高炉スラグ表面の、画像上低い輝度となるデータを採取することが多く、そのために、輝度から溶銑の温度を推定する際に、推定の精度が低下するという問題があった。 On the other hand, temperature control of the molten metal to be handled is also necessary when transferring the molten metal after pouring out from one container to another container, for example, from a blast furnace pot such as a hot metal pot to a charging ladle etc. It is. That is, the temperature of the molten metal is imaged by a CCD camera, and the temperature is estimated from the luminance of the obtained image. For example, when the hot metal being received from a blast furnace pan into a charging pan is imaged with a CCD camera and the temperature is estimated from the obtained image, the image quality of the refractory surface or blast furnace slag surface inside the blast furnace pan is low on the image There are many cases in which data to be the luminance is collected, which causes a problem that the accuracy of the estimation decreases when the temperature of the hot metal is estimated from the luminance.

本発明は、上記の事情に鑑みて開発されたもので、その目的とするところは、金属溶湯の温度の推定精度を高めることができる金属溶湯の温度推定方法を提案することにある。 The present invention has been developed in view of the above-described circumstances, and an object thereof is to propose a temperature estimation method of molten metal capable of enhancing the estimation accuracy of the temperature of the molten metal.

発明者らは、従来技術が抱えている前述の課題を克服し、かつ前記目的を実現すべく鋭意検討を重ねた結果、溶銑などの金属溶湯をＣＣＤカメラで撮像した画像のうち、特に低い輝度となるのが、受銑開始後および受銑終了前の一定の時間に集中していることを見出し、下記の要旨構成に係る本発明を開発するに到った。即ち、本発明は、金属溶湯を一の容器から他の容器に移すときに、その金属溶湯の出湯流の輝度を撮像し、撮像した画像の輝度から該金属溶湯の温度を推定するにあたり、全撮像時間のうちの受湯開始後および受湯終了前に撮像した画像を除いた撮像中盤における画像の輝度に基づき、金属溶湯の温度を推定することを特徴とする、金属溶湯の温度推定方法である。 As a result of overcoming the above-mentioned problems of the prior art and achieving the above object, the present inventors have conducted intensive studies to find that particularly low luminance of images obtained by imaging molten metal such as hot metal with a CCD camera. It was found that the concentration was at a certain time after the start of receiving and before the end of receiving, and the present invention was developed according to the following summary constitution. That is, when transferring the molten metal from one container to another container, the present invention images the brightness of the molten metal melt flow and estimates the temperature of the molten metal from the brightness of the imaged image. A temperature estimation method for molten metal, characterized in that the temperature of molten metal is estimated based on the brightness of the image in the middle of imaging excluding the image taken after the start of receiving hot water and before the end of hot water in the imaging time. is there.

また、本発明は、さらに、
（１）前記一の容器が高炉鍋やトピードカーであり、前記他の容器が装入用取鍋（以下、単に「装入鍋」という）であり、そして、前記金属溶湯が溶銑であって、前記受湯開始および受湯終了が受銑開始および受銑終了を意味すること、
（２）前記受湯開始から受湯終了までの全期間、ＣＣＤカメラで撮像した画像の輝度に基づき、金属溶湯の温度を推定して時系列データを得る工程と、前記推定した金属溶湯温度の時系列データのうち、受湯開始から所定時間経過後の時点から受湯終了から所定時間手前の時点までの撮像中盤の期間の時系列データの平均値を求め、この中盤における該金属溶湯の温度を推定する工程と、からなること、
（３）前記受湯開始から受湯終了までの全撮像時間に対して、前記受湯開始後および受湯終了前でかつ前記撮像中盤以外の撮像時間をそれぞれ全撮像時間の１０〜３０％とすること、
を採用することにより好ましい解決手段を提供できるものと考えられる。 Furthermore, the present invention further provides:
(1) The one container is a blast furnace pot or a toped car, the other container is a charging ladle (hereinafter simply referred to as "charging pot"), and the molten metal is a molten metal, The hot water start and hot water finish mean that the hot water starts and the hot water finish,
(2) A step of obtaining time-series data by estimating the temperature of the molten metal based on the brightness of the image taken by the CCD camera during the entire period from the start of receiving the hot water to the end of receiving the hot water; Among time series data, an average value of time series data of a period of imaging middle period from a point of time after lapse of predetermined time from receiving of hot water reception to a point of time of short time before receiving of hot water is obtained Estimating and consisting of
(3) With respect to the total imaging time from the start of receiving the hot water to the end of receiving hot water, 10 to 30% of the total imaging time after the start of receiving hot water and before the end of hot water receiving To do,
It is considered that adopting a solution can provide a preferable solution.

本発明によれば、例えば処理対象の金属溶湯の場合であれば、受銑開始前と受銑終了後の一定割合の時間の温度推定データを除いた、出湯中盤の温度推定データの平均値を目的とする推定温度とすることで、受銑全期間の温度推定データの平均値を推定温度とする場合に比べて、溶銑などの金属溶湯の温度推定の精度をより高く正確に把握できるようになる。 According to the present invention, in the case of, for example, a molten metal to be treated, an average value of temperature estimation data of the hot-water discharge middle stage excluding temperature estimation data of a fixed ratio of time before start of reception and after completion of reception By setting it as the target estimated temperature, the accuracy of the temperature estimation of molten metal such as hot metal can be grasped more accurately and accurately than when the average value of the temperature estimation data of the entire receiving period is used as the estimated temperature. Become.

本発明の金属溶湯の温度推定方法における各工程の一例を説明するためのフローチャートである。It is a flowchart for demonstrating an example of each process in the temperature estimation method of the molten metal of this invention. 実際に金属溶湯を連続して撮像した際の画像内最大輝度と撮像時間との関係を示すグラフである。It is a graph which shows the relationship between the in-image maximum luminance and imaging time at the time of actually imaging a molten metal continuously. 本発明方法および従来方法に従って溶銑温度を測定した際の実績溶銑温度と輝度変換推定溶銑温度との関係を示すグラフである。It is a graph which shows the relationship between the result hot metal temperature at the time of measuring hot metal temperature according to the method of this invention, and a conventional method, and brightness conversion estimation hot metal temperature.

本発明に係る金属溶湯の温度推定方法は、溶銑などの金属溶湯（以下、「溶銑」の例で説明する）をＣＣＤカメラで撮像し、得られた画像から溶湯の温度を推定しようとするとき、受銑開始後および受銑終了前の一定の時間については低い輝度となることに着目して開発した方法である。即ち、本発明は、受銑の開始後と終了前の一定時間の輝度データを、溶銑の温度推定に用いると該溶湯の温度推定を精度よく実施できないことを突き止め、そのために高炉鍋から装入鍋に受銑する溶銑の輝度をＣＣＤカメラで撮像することとし、撮像した画像の輝度から溶銑の温度を推定するようにした方法である。具体的には、高炉鍋の状態、もしくは、装入鍋へ移し換える溶銑流の状態について、受銑開始後および受銑終了前の一定時間に撮像した画像を除いた中盤の画像の輝度から、溶湯の温度を推定する方法である。 In the method of estimating the temperature of molten metal according to the present invention, a molten metal such as molten metal (hereinafter described in the example of “molten metal”) is imaged by a CCD camera, and the temperature of the molten metal is to be estimated from the obtained image This is a method developed focusing on the fact that the luminance is low for a certain period of time after the start of receiving and before the end of receiving. That is, according to the present invention, it is found out that the temperature estimation of the molten metal can not be performed accurately if the luminance data of the constant time after start and end of receiving iron are used for the temperature estimation of the molten metal. In this method, the brightness of the hot metal received in the pan is imaged by a CCD camera, and the temperature of the hot metal is estimated from the brightness of the captured image. Specifically, regarding the condition of the blast furnace pan or the condition of the hot metal flow transferred to the charging pan, from the brightness of the image of the middle frame excluding the images taken after the start of receiving and for a certain time before the end of receiving It is a method of estimating the temperature of the molten metal.

図１は、本発明に係る溶銑の温度推定方法を実施するときの各工程の一例を説明するためのフローチャートである。この図に示すように、本発明の温度推定方法では、まず、金属溶湯である溶銑を高炉鍋から装入鍋に受銑するとき、受銑開始から受銑終了までの全期間について、ＣＣＤカメラにて溶銑の状態を連続して撮像し、撮像によって得られた全撮像時間の画像から輝度の時系列データ（全期間）を求める（ステップ１）。次に、ステップ１で求めた全撮像時間の輝度の時系列データから溶銑の温度を推定し、推定温度の時系列データを求める（ステップ２）。次に、ステップ２で求めた全撮像時間の推定温度の時系列データから、受銑開始後および受銑終了前のそれぞれの所定時間のデータを削除して、全撮像機関のうちの中盤の期間のみの推定温度の補正時系列データを求める（ステップ３）。次に、ステップ３で求めた撮像中盤の推定温度の補正時系列データの平均値を計算し、計算した該撮像中間の推定温度の補正時系列データの平均値を溶銑の推定温度として求める（ステップ４）。 FIG. 1 is a flow chart for explaining an example of each step when carrying out the method of estimating the temperature of molten metal according to the present invention. As shown in this figure, according to the temperature estimation method of the present invention, first, when the molten metal that is the molten metal is received from the blast furnace pot to the charging pot, the CCD camera for the entire period from the start of receiving to the end of receiving The state of the hot metal is continuously imaged in the above, and time series data (overall period) of luminance is obtained from the image of the entire imaging time obtained by imaging (step 1). Next, the temperature of the hot metal is estimated from the time series data of the luminance of the whole imaging time obtained in step 1 to obtain time series data of the estimated temperature (step 2). Next, from the time series data of the estimated temperature of all imaging times determined in step 2, data of each predetermined time after reception start and before completion of reception are deleted, and the period of the middle stage among all the imaging agencies The corrected time-series data of only the estimated temperature is obtained (step 3). Next, the average value of the corrected time-series data of the estimated temperature of the imaging middle plate determined in step 3 is calculated, and the average value of the corrected time-series data of the estimated temperature during imaging is calculated as the estimated temperature of molten iron (step 4).

なお、本発明において、全撮像時間からそれぞれ削除すべき、受銑開始後および受銑終了前の所定時間としては、受銑開始から受銑終了までの全撮像時間に対して１０〜３０％とすることが好ましい。ここで、削除すべき所定時間が１０％未満では削除する効果が乏しくなる場合があり、削除すべき所定時間が３０％を超えると推定温度の計算のためのデータを削除しすぎることとなる場合があるためである。 In the present invention, the predetermined time after the start of receiving and the end of receiving should be 10 to 30% of the total imaging time from the start of receiving to the end of receiving It is preferable to do. Here, if the predetermined time to be deleted is less than 10%, the effect of deletion may be poor, and if the predetermined time to be deleted exceeds 30%, the data for calculating the estimated temperature may be deleted too much. There is

以上説明したように、前述した実施例形態は、全撮像時間の輝度の時系列データを求め（ステップ１）、そのデータから全撮像時間の推定温度の時系列データを求め（ステップ２）、そのデータを受銑開始後と受銑終了前についてそれぞれ所定時間のデータを削除した撮像中盤の推定温度の補正時系列データを求める（ステップ３）という例を説明した。 As described above, in the embodiment described above, time-series data of luminance of all imaging times is determined (step 1), and time-series data of estimated temperature of all imaging times is determined from the data (step 2), An example has been described in which corrected time-series data of the estimated temperature in the middle of imaging in which data of a predetermined time is deleted after receiving the data and before ending the receiving is determined (step 3).

本発明の他の実施形態としては、全撮像時間の輝度の時系列データから受銑開始後と受銑終了前の所定時間（一例として全撮像時間の前後２０％ずつ）のデータを削除した撮像中盤の輝度の補正時系列データを求め、求めた輝度の補正時系列データから推定温度の補正時系列データを求める方法であってもよい。 As another embodiment of the present invention, imaging obtained by deleting data of a predetermined time (for example, 20% before and after all imaging times as an example) after reception start and before end of reception from time series data of luminance of all imaging times A method may be used in which corrected time-series data of brightness in the middle stage is obtained, and corrected time-series data of estimated temperature is obtained from the obtained corrected time-series data of brightness.

なお、上述した例において、溶銑の模様をＣＣＤカメラで撮像し、撮像したその溶銑の画像輝度から溶銑の温度を推定する方法については、既知の種々の方法を適用することができ、例えば、特許文献１に記載の方法などであってもよい。 In the above-described example, various known methods can be applied to a method of imaging a pattern of hot metal with a CCD camera and estimating the temperature of the hot metal from the image brightness of the hot metal that has been captured. The method described in Document 1 may be used.

本発明によれば、上述したように、受銑開始後と受銑終了前の一定の時間を除いた撮像中盤の溶銑の輝度に基づく推定温度の平均値を使用することで、溶銑の温度の推定精度を格段に向上させることができる。その結果、溶銑を高炉鍋やトピードカーから装入鍋へ装入するときに見られるような、連続流出時間が短い場合でも、溶銑の温度を高い精度で推定することができるようになる。 According to the present invention, as described above, by using the average value of the estimated temperature based on the brightness of hot metal in the imaging middle frame excluding the constant time before and after the start of receiving, the temperature of the hot metal The estimation accuracy can be significantly improved. As a result, the temperature of the hot metal can be estimated with high accuracy even when the continuous flow time is short, as seen when charging the hot metal from the blast furnace pan or toped car to the charging pan.

図２は、実際に溶銑を高炉鍋から装入鍋（取鍋）に移しかえるときに、その溶湯の状態を連続して撮像した際の画像内最大輝度と撮像時間との関係を示したグラフである。この図に示すように、溶銑の出銑を開始する受銑開始と同時に撮像を開始し（撮像時間０秒）、溶銑の出銑を終了する受銑終了と同時に撮像を終了（撮像時間１２０秒）した例を示している。図２から明らかなように、受銑開始後と受銑終了前の所定の時間（それぞれ全撮像時間の２０％に当たる２４秒）は、溶銑の直接の輝度だけではなく、高炉鍋内部の耐火物の輝度や、高炉スラグの輝度が、撮像した画像に反映されるため、撮像された画像の輝度は低くなっていることがわかる。そのため、受銑開始から受銑終了までの全期間の輝度の平均値を求めて溶湯の温度を推定すると、その温度は実際の温度よりも低い温度になることがわかる。このことから、本発明では、高炉鍋から装入鍋までの受銑開始後と受銑終了前の所定の期間（それぞれ全撮像時間の２０％）の輝度データを、溶銑の温度の推定に用いないこととした。 FIG. 2 is a graph showing the relationship between the maximum brightness in the image and the imaging time when the state of the molten metal is continuously imaged when actually transferring the hot metal from the blast furnace pan to the charging pan (ladle) It is. As shown in this figure, imaging starts at the same time as the start of receiving iron to start pouring hot metal (imaging time 0 seconds), and imaging ends when receiving hot iron is finished (imaging time 120 seconds) ) Is shown. As apparent from FIG. 2, the predetermined time after the start of receiving and before the end of receiving (24 seconds corresponding to 20% of the total imaging time) is not only the direct brightness of the hot metal but also the refractory inside the blast furnace pan It can be seen that the brightness of the captured image is low because the brightness of the light source and the brightness of the blast furnace slag are reflected in the captured image. Therefore, when the temperature of the molten metal is estimated by calculating the average value of the luminance in the entire period from the start of receiving to the end of receiving, it is understood that the temperature becomes lower than the actual temperature. From this, in the present invention, the luminance data of a predetermined period (20% of the total imaging time) after start of receiving from the blast furnace pot to the charging pot and before the end of receiving is used to estimate the temperature of the hot metal. I decided not to.

原料ヤードでの高炉鍋内溶銑の温度推定および装入鍋内溶銑の温度推定を、本発明に従って、受銑開始後と受銑終了前の所定時間（全撮像時間に対しそれぞれ全撮像時間の２０％の間）の輝度データを、温度推定に用いずに溶銑温度を推定した本発明例と、従来技術に従って、全期間の輝度データから溶銑温度を推定した従来例と、について比較実験を行った。そして、それらの温度推定の実施の際に別途、熱電対タイプの温度計で実際の溶銑温度を測定した実績溶銑温度と比較した。その結果を図３に示す。この図３では、実績温度と推定温度の較差が１０．０〜１４．９℃と大きい領域（＝従来例では測定期間の初めと終わりのデータの影響で推定温度較差が正符号の大きな値となりやすい傾向がある）にて、本発明の方が通常よりも頻度が少なくなっていることが分かる。すなわち、所定の期間の輝度データを使用しない本発明の方が、全輝度データを使用した時よりも推定精度が高い。 According to the present invention, the temperature estimation of the blast furnace ladle in the raw material yard and the temperature estimation of the ladle in the charging ladle are carried out according to the present invention for a predetermined time after receiving start and before receiving end (total imaging time 20 for all imaging times). Of the present invention in which the hot metal temperature was estimated without using temperature estimation, and the conventional example in which the hot metal temperature was estimated from luminance data over the entire period according to the prior art. . And when carrying out those temperature estimations, the actual hot metal temperature was measured separately with a thermocouple type thermometer and compared with the actual hot metal temperature. The results are shown in FIG. In FIG. 3, the difference between the actual temperature and the estimated temperature is as large as 10.0 to 14.9 ° C. (in the conventional example, the estimated temperature difference has a large positive value due to the influence of data at the beginning and end of the measurement period) In the tendency to be easy), it can be seen that the frequency of the present invention is lower than usual. That is, the present invention, which does not use luminance data of a predetermined period, has higher estimation accuracy than when all luminance data is used.

また、溶銑温度の差（実績−推定）の平均値、偏差（σ）と、較差（平均値＋３σ）を従来と本発明でそれぞれ求めた。比較結果を表１に示す。 Moreover, the average value of the difference (performance-estimation) of a hot metal temperature, a deviation ((sigma)), and the difference (average value + 3 (sigma)) were calculated | required by the conventional and this invention, respectively. The comparison results are shown in Table 1.

表１に示す結果から、本発明方法を適用したときの溶銑温度較差は３３．７℃であり、従来技術を適用した例での溶銑温度較差３８．３℃に比べて、実績溶銑温度からの乖離が小さくなるため、推定温度の精度が高いことがわかる。 From the results shown in Table 1, the hot metal temperature range when the method of the present invention is applied is 33.7 ° C., compared to the hot metal temperature range of 38.3 ° C. in the example to which the prior art is applied, from the actual hot metal temperature. It can be seen that the accuracy of the estimated temperature is high because the deviation is small.

本発明に係る金属溶湯の温度推定方法によれば、金属溶湯の容器移しかえ時における撮像画像から金属溶湯温度の推定するときの推定の精度を高くすることができる。特に、溶銑（溶鋼）などの温度の推定精度を高くできる。また、本発明の温度推定方法を利用すれば、受銑後の脱硫時に必要な脱硫材の量を低減させることができるようになるため、脱硫材コストや鉄歩留りの向上などの効果が見込まれる。 According to the method of estimating the temperature of molten metal according to the present invention, it is possible to increase the accuracy of estimation when estimating the temperature of the molten metal from the captured image at the time of transferring the molten metal to the container. In particular, the estimation accuracy of the temperature of molten metal (molten steel) can be increased. Further, by using the temperature estimation method of the present invention, it is possible to reduce the amount of desulfurizing material required at the time of desulfurization after receiving the iron, so effects such as improvement in desulfurizing material cost and iron yield can be expected. .

Claims

When the molten metal is transferred from one container to another container, the brightness of the molten metal flow from the molten metal is imaged, and the temperature of the molten metal is estimated from the luminance of the imaged image. The step of obtaining the time-series data by estimating the temperature of the molten metal based on the brightness of the image captured by the CCD camera for the entire period up to the period, and of the time-series data of the estimated metal melt temperature The average value of the time series data of the period of the imaging middle period from the time after time lapse to the time before the predetermined time from the end of receiving the hot water, and the step of estimating the temperature of the molten metal in this middle based on the brightness of the image in the middle imaging excluding the image captured after the start and before受湯termination受湯of out, among the temperature estimation method of Rukin genus melt to estimate the temperature of the molten metal, the one container Blast furnace pan or topi The other container is a charging pot, and the molten metal is a molten metal, and the start and end of receiving the hot water mean receiving start and end of receiving. , How to estimate the temperature of hot metal .

With respect to the total imaging time from the start of receiving hot water to the end of receiving hot water, the imaging time after the start of receiving hot water and before the end of hot water receiving and other than the intermediate shooting is 10% to 30% of the total imaging time The temperature estimation method of the molten metal according to claim 1, characterized by the above.