CN111659866B

CN111659866B - Knockout control method and knockout control equipment for continuous casting production

Info

Publication number: CN111659866B
Application number: CN202010754197.3A
Authority: CN
Inventors: 桑建伟; 高仲毅; 孙浪波; 靳艳磊; 鲍刚枫
Original assignee: BEIJING ZHONGYUANTONG SCIENCE AND TECHNOLOGY CO LTD
Current assignee: BEIJING ZHONGYUANTONG SCIENCE AND TECHNOLOGY CO LTD
Priority date: 2020-07-30
Filing date: 2020-07-30
Publication date: 2022-03-08
Anticipated expiration: 2040-07-30
Also published as: CN111659866A

Abstract

The invention relates to the technical field of steelmaking production methods and equipment, in particular to a knockout control method and knockout control equipment for continuous casting production. An automatic control system of the equipment acquires first blank parameters in a waiting area by using a blank conveying monitoring subsystem, acquires second blank parameters in a blank pushing area and a stacking area by using a blank pushing monitoring subsystem, and acquires third blank parameters in a cutting area by using a main control subsystem; the blank conveying monitoring subsystem, the blank pushing monitoring subsystem and the main control subsystem respectively calculate and establish a corresponding blank conveying instruction, a corresponding blank supplementing instruction and a corresponding blank pushing instruction based on the first blank parameter, the second blank parameter, the third blank parameter and the parameter combination; the main control subsystem executes corresponding blank conveying operation based on the blank conveying instruction, executes corresponding blank supplementing operation based on the blank supplementing instruction, and executes corresponding blank pushing operation based on the blank pushing instruction. The invention can realize the digital management and control and the fine management of the knockout process and can promote the improvement of the production efficiency.

Description

Knockout control method and knockout control equipment for continuous casting production

Technical Field

The invention relates to the technical field of steelmaking production methods and equipment, in particular to a knockout control method and knockout control equipment for continuous casting production.

Background

Continuous casting is called continuous casting for short. In the steel-making production process, two methods are generally adopted for solidifying and forming molten steel: conventional die casting and continuous casting processes. The continuous casting method is a method of directly casting molten steel to form a continuous cast slab. Compared with the traditional die casting method, the continuous steel casting method has the obvious advantages of greatly improving the metal yield and the casting blank quality, along with high production efficiency, energy conservation and the like. The continuous casting billet is a product obtained by casting molten steel smelted by a steel furnace through a continuous casting machine, and can be divided into a plate blank, a square billet, a rectangular billet, a round billet, a special-shaped billet and the like according to the section and the appearance of the continuous casting billet.

In the existing steelmaking production process, the continuous casting production belongs to a manpower intensive production process. The continuous casting production knockout process comprises the following steps: the method comprises a cutting process of cutting a continuous casting billet into blanks with specified lengths, a blank conveying process and a process of pushing the blanks to a position to be hoisted (generally a cooling bed). Most stations in the knockout procedure still need to adopt a manual mode to carry out production control, and full-automatic control cannot be realized.

In the blank pushing process of the blank ejection procedure, because the continuous casting machine has a large flow number, high casting and drawing speed and fast production rhythm, operators have to keep high concentration of spirit for a long time in the process of pushing the blank manually, the labor intensity of the workers is high, the workers are easy to be fatigued, and the production safety accidents such as blank stacking, billet pushing bending, falling of a steel pusher and the like caused by misoperation of human reasons are difficult to avoid. In addition, the manual control of the blank ejection process cannot realize the digital management and control of the blank ejection process, and the fine management of the blank ejection process, the improvement of the production efficiency and the formation of the assembly line production process are all adversely affected.

Disclosure of Invention

The invention aims to at least solve the technical problems in the prior knockout process. Therefore, the invention provides the continuous casting billet ejection control equipment, so as to realize digital management and control and fine management of the billet ejection process and promote the improvement of the production efficiency.

The invention also provides a knockout control method for continuous casting production.

The continuous casting billet ejection control equipment comprises an automatic control system which is respectively connected with a continuous casting machine and a pusher, wherein the continuous casting machine is provided with a billet ejection runner, one end of the billet ejection runner is provided with a cutting area, the other end of the billet ejection runner is provided with a waiting area, the pusher is provided with a billet ejection area, the inlet end of the billet ejection area is in openable and closable connection with the waiting area, and the outlet end of the billet ejection area is provided with a stacking area;

the automatic control system comprises a blank conveying monitoring subsystem and a blank pushing monitoring subsystem which are connected with each other, and a main control subsystem which is respectively connected with the blank conveying monitoring subsystem and the blank pushing monitoring subsystem;

the blank conveying monitoring subsystem is used for acquiring first blank parameters in the waiting area, the blank pushing monitoring subsystem is used for acquiring second blank parameters in the blank pushing area and the stacking area, and the main control subsystem is used for acquiring third blank parameters in the cutting area;

the blank conveying monitoring subsystem calculates and establishes a corresponding blank conveying instruction based on the first blank parameters;

the blank pushing monitoring subsystem calculates and establishes a corresponding blank supplementing instruction based on the first blank parameter, the second blank parameter and the third blank parameter;

the blank pushing monitoring subsystem calculates and establishes a corresponding blank pushing instruction based on the second blank parameters;

the main control subsystem executes corresponding blank conveying operation based on the blank conveying instruction, executes corresponding blank supplementing operation based on the blank supplementing instruction, and executes corresponding blank pushing operation based on the blank pushing instruction.

According to the continuous casting production ejection control equipment provided by the invention, the blank conveying monitoring subsystem comprises a first computer and a plurality of cameras, the cameras are respectively distributed along the ejection flow channel, at least one camera faces the waiting area, each camera is respectively connected with the first computer, and the first computer is connected with the main control subsystem.

According to the continuous casting production ejection control equipment provided by the invention, the ejection monitoring subsystem comprises a third computer and a plurality of cameras, the outlet end of the ejection area is connected with a cooling bed, at least one stacking area is formed on the cooling bed, the cameras are respectively arranged around the cooling bed, and each cooling bed is respectively and correspondingly provided with at least one camera; and each camera is respectively connected with the third computer, and the third computer is connected with the main control subsystem.

According to the continuous casting production ejection control equipment provided by the invention, the ejection monitoring subsystem further comprises a plurality of travelling crane position receivers respectively connected with the third computer, travelling cranes capable of moving among the stacking areas are arranged above the pusher, at least one travelling crane position receiver is correspondingly arranged in each stacking area, and the travelling crane position receivers are used for acquiring the position information of the travelling cranes when the travelling cranes move into the current stacking areas.

According to the continuous casting production ejection control equipment provided by the invention, the ejection monitoring subsystem further comprises a position measurer, a blank pushing roller way and a blank pushing mechanism are arranged in the blank pushing area, a plurality of blank conveying roller ways are respectively arranged in the waiting area of the ejection flow channel, the blank pushing roller ways are parallel to the blank conveying roller ways, the movement direction of the blank pushing mechanism is taken as the blank pushing direction, the rolling direction of the blank conveying roller ways is taken as the blank supplementing direction, and the blank pushing direction is perpendicular to the blank supplementing direction;

one side of the blank pushing roller way forms an inlet end of the blank pushing area, at least one end of the blank pushing roller way along the blank pushing direction forms an outlet end of the blank pushing area, and the blank pushing mechanism can move back and forth along the blank pushing direction;

and the position measurer is connected with the third computer and is used for acquiring the real-time position of the blank pushing mechanism.

According to the billet ejection control equipment for continuous casting production provided by the invention, the main control subsystem comprises a second computer, the inlet end of the billet pushing area is connected with the waiting area through a lifting baffle plate capable of lifting, the second computer can drive the billet conveying roller way to roll based on the billet conveying instruction, drive the billet conveying roller way and the billet pushing roller way to synchronously roll based on the billet supplementing instruction, drive the billet pushing mechanism to move back and forth along the billet pushing direction based on the billet pushing instruction, and drive the lifting baffle plate to move up and down.

According to the billet discharging control equipment for continuous casting production provided by the invention, the continuous casting machine is provided with a plurality of parallel billet discharging runners, each billet discharging runner is provided with a plurality of billet conveying roller ways at intervals in the waiting area, each billet discharging runner is provided with a plurality of cutting roller ways at intervals in the cutting area, each billet discharging runner is also provided with a flame cutter connected with the cutting roller ways in the cutting area, and one end of each billet discharging runner, which is provided with the waiting area, is respectively connected with the inlet end of the billet pushing area through a lifting baffle; the blank pushing device comprises a blank pushing area, a plurality of blank pushing roller ways are arranged in the blank pushing area, a fixed baffle is arranged on one side of the blank pushing area, which is opposite to the inlet end of the blank pushing area, each blank pushing roller way, each blank conveying roller way and the fixed baffle are arranged in parallel, and the outlet end of the blank pushing area is formed at one end or two ends of each blank pushing roller way.

A knockout control method of a knockout control apparatus based on continuous casting production as described above according to a second embodiment of the present invention includes the steps of:

respectively acquiring a first billet parameter in a waiting area of a continuous casting machine, a second billet parameter in a billet pushing area and a stacking area of a pusher, and a third billet parameter in a cutting area of the continuous casting machine;

calculating and establishing a corresponding blank sending instruction based on the first blank parameter, calculating and establishing a corresponding blank supplementing instruction based on the first blank parameter, the second blank parameter and the third blank parameter, and calculating and establishing a corresponding blank pushing instruction based on the second blank parameter;

and executing corresponding blank conveying operation based on the blank conveying instruction, executing corresponding blank supplementing operation based on the blank supplementing instruction, and executing corresponding blank pushing operation based on the blank pushing instruction.

According to the blank discharging control method for continuous casting production provided by the invention, the first blank parameters comprise the real-time blank positions and the blank number in the waiting area, the second blank parameters comprise the blank positions and the blank number in the blank pushing area and the blank stacking number in the stacking area, and the third blank parameters comprise the real-time blank positions and the blank number in the cutting area;

the blank conveying instruction is to convey the blank in the cutting area to a lifting baffle in the waiting area;

the blank supplementing instruction is based on the real-time positions and the number of blanks in the cutting area, the real-time positions and the number of blanks in the waiting area, the positions and the number of blanks in the blank pushing area and the stacking number of blanks in the stacking area, and the blanks in the waiting area are sent to the blank pushing area;

and pushing a specified number of blanks in the blank pushing area into the stacking area based on the blank position and the blank number in the blank pushing area and the blank stacking number in the stacking area until the blank stacking number in the stacking area reaches a preset maximum value.

According to the ejection control method for continuous casting production provided by the invention, the blank supplementing command further comprises the following steps: and driving a lifting baffle to be opened to send the blanks in the waiting area to the blank pushing area based on the real-time positions and the number of the blanks in the cutting area and the real-time positions and the number of the blanks in the waiting area, and driving the lifting baffle to be closed after all the blanks enter the blank pushing area.

One or more technical solutions in the embodiments of the present invention have at least one of the following technical effects:

the billet ejection control equipment for continuous casting production comprises an automatic control system respectively connected with a continuous casting machine and a pusher, so that the automatic control system is used for automatically controlling the billet ejection of the continuous casting machine and the billet pushing of the pusher. The automatic control system comprises a blank conveying monitoring subsystem, a blank pushing monitoring subsystem and a main control subsystem, wherein the blank conveying monitoring subsystem, the blank pushing monitoring subsystem and the main control subsystem are respectively used for acquiring a first blank parameter in a waiting area, a second blank parameter in a blank pushing area and a stacking area and a third blank parameter in a cutting area; the blank conveying monitoring subsystem can calculate and establish a corresponding blank conveying instruction based on the first blank parameters; the blank pushing monitoring subsystem can calculate and establish a corresponding blank pushing instruction based on the second blank parameters; the blank pushing monitoring subsystem can calculate and establish a corresponding blank supplementing instruction based on the first blank parameter, the second blank parameter and the third blank parameter; the main control subsystem can also execute corresponding blank conveying operation based on the blank conveying instruction, execute corresponding blank supplementing operation based on the blank supplementing instruction, and execute corresponding blank pushing operation based on the blank pushing instruction. The automatic control system can realize digital management and control and fine management of a complete knockout process from continuous casting machine knockout to cold bed stacking, can promote the improvement of the production efficiency, and is favorable for fine management of subsequent processes of billet lifting and distribution, so that the whole knockout process comprising knockout, billet pushing, stacking and lifting can be continuously and digitally managed and controlled.

Furthermore, the automatic control system of the continuous casting production billet ejection control equipment can monitor images of important areas on a continuous casting machine and a steel pusher based on a machine vision detection means, and analyze the images, so that corresponding billet feeding operation, billet supplementing operation and billet pushing operation on the continuous casting machine and the steel pusher are realized.

The ejection control method of the embodiment of the invention is executed by the ejection control device for continuous casting production, so that the ejection control method has all the advantages of the ejection control device for continuous casting production, and is not repeated herein.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic structural view of a withdrawal control apparatus for continuous casting production according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a connection structure between a monitoring system and a main control system according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a blank feeding monitoring subsystem according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a blank pushing monitoring subsystem according to an embodiment of the present invention.

Reference numerals:

1: a first computer;

11: a first camera; 12: a second camera; 13: a third camera; 14: a fourth camera;

2: a second computer;

3: a third computer;

31: a first vehicle position receiver; 32: a fifth camera; 33: a second travel position receiver; 34: a position measurer; 35: a third vehicle position receiver; 36: a sixth camera; 37: a fourth vehicle position receiver;

4: a continuous casting machine;

41: cutting the machine with fire; 42: continuously casting a billet; 43: a knockout area; 44: a blank conveying roller way; 45: a lifting baffle plate;

5: a first cooling bed;

51: a first stack position; 52: a second stack position;

6: driving a vehicle;

7: a blank pushing area;

71: a blank pushing roller way; 72: fixing a baffle plate;

8: a blank pushing mechanism;

9: a second cooling bed;

91: a third stacking position; 92: a fourth stack position;

10: a green body.

Detailed Description

The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

As shown in fig. 1 to 4, an embodiment of the present invention provides a withdrawal control apparatus for continuous casting production (simply referred to as "apparatus" in the embodiment of the present invention), and a withdrawal control method (simply referred to as "method" in the embodiment of the present invention) based on the apparatus. The equipment and the method can realize the digital control and the fine management of the complete knockout process from the knockout of the continuous casting machine 4 to the stacking of the pusher, can promote the improvement of the production efficiency, and are favorable for the fine management of the subsequent process of hoisting and distributing the green bodies 10, thereby leading the whole knockout process comprising the knockout, the stacking and the hoisting to be capable of carrying out continuous digital control.

Specifically, the method according to the embodiment of the present invention includes the following steps:

s1, respectively obtaining a first billet parameter in a waiting area of the continuous casting machine 4, a second billet parameter in a billet pushing area and a stacking area of the pusher, and a third billet parameter in a cutting area of the continuous casting machine 4;

s2, calculating and establishing a corresponding blank sending instruction based on the first blank parameter, calculating and establishing a corresponding blank supplementing instruction based on the first blank parameter, the second blank parameter and the third blank parameter, and calculating and establishing a corresponding blank pushing instruction based on the second blank parameter;

and S3, executing corresponding blank feeding operation based on the blank feeding instruction, executing corresponding blank supplementing operation based on the blank supplementing instruction, and executing corresponding blank pushing operation based on the blank pushing instruction.

In the above method, as shown in fig. 1, the billet discharging area 43 of the continuous casting machine 4 comprises a cutting area and a waiting area which are arranged in series, the pusher comprises a billet pushing area 7 and a stacking area arranged at the outlet end of the billet pushing area, the waiting area is separated from the inlet end of the billet pushing area 7 by a lifting baffle plate 45, and the connection and disconnection between the waiting area and the billet pushing area 7 are controlled by the lifting of the lifting baffle plate 45.

In the method, the first blank parameter comprises the real-time blank position and the blank number in the waiting area. The second blank parameters include the position and number of blanks in the blank pushing zone 7 and the number of blanks stacked in the stacking zone. The third blank parameters include the real-time position of the blank within the cutting zone and the number of blanks. It can be understood that the method obtains the image data in the waiting area, the stacking area and the cutting area through a machine vision technology, and analyzes and calculates the image data to obtain the first blank parameter, the second blank parameter and the third blank parameter.

In the method, the blank conveying instruction is to convey the blank 10 in the cutting area to the lifting baffle in the waiting area; the blank supplementing instruction is based on the real-time position and the number of the blanks in the cutting area, the real-time position and the number of the blanks in the waiting area, the position and the number of the blanks in the blank pushing area 7 and the stacking number of the blanks in the stacking area, and the blanks 10 in the waiting area are sent to the blank pushing area 7; the blank pushing instruction is based on the blank position and the blank stacking number in the blank pushing area 7 and the blank stacking number in the stacking area, and the specified number of blanks 10 in the blank pushing area 7 are pushed into the stacking area until the blank stacking number in the stacking area reaches the preset maximum value.

Correspondingly, the blank conveying operation is an execution action matched with the blank conveying instruction. That is, the blank feeding operation is to feed the blank 10 in the cutting area into the waiting area, the blank supplementing operation is to feed the blank 10 in the waiting area into the blank pushing area 7, and the blank pushing operation is to feed the blank 10 in the blank pushing area 7 into the stacking area.

In the method, the blank conveying monitoring subsystem can monitor the real-time positions and the number of the blanks in the cutting area in real time, and if a new blank 10 appears on a flow channel in the cutting area, the blank 10 is conveyed into the waiting area, so that the smooth execution and uninterrupted execution of the upstream cutting operation and the downstream blank supplementing operation of the continuous casting machine 4 are ensured.

In the method, the blank supplementing instruction can also send the blank 10 of the specified runner in the waiting area into the blank pushing area 7 based on the real-time position and the number of the blanks in the waiting area, so that the blank 10 in the waiting area in the continuous casting machine 4 can be sent into the blank pushing area 7 in time, and further the automatic control of blank sending is realized.

Further, the blank supplementing instruction is as follows: based on the real-time position and the number of the blanks in the cutting area, the real-time position and the number of the blanks in the waiting area, the position and the number of the blanks in the blank pushing area 7 and the stacking number of the blanks in the stacking area, the lifting baffle 45 is driven to be opened to send the blanks 10 in the waiting area to the blank pushing area 7, and the lifting baffle 45 is driven to be closed after all the blanks 10 enter the blank pushing area 7. It can be seen that the on-off between the waiting area and the blank pushing area 7 can be controlled by the lifting of the lifting baffle 45, so that the blank supplementing operation and the blank pushing operation are not interfered with each other, the blank 10 entering the waiting area in the blank conveying operation can be reliably stopped by the lifting baffle 45, and the operation at each stage is accurate and smooth.

As shown in fig. 1 to 4, in the apparatus according to the embodiment of the present invention, the billet discharging area 43 of the continuous casting machine 4 is connected to the pusher, and the automatic control system is respectively connected to the continuous casting machine 4 and the pusher 8, so as to automatically operate the continuous casting machine 4 and the pusher 8 by using the automatic control system, thereby realizing the processes of conveying the continuous casting billet 42 from the cutting into the billet 10, conveying the billet 10, and pushing and stacking after the billet discharging, so as to form a complete set of automatic control assembly line for the billet discharging process.

As shown in fig. 1, the continuous casting machine 4 of the apparatus is provided with a run-out, one end of which is formed with a cutting area and the other end of which is formed with a waiting area. The pusher is provided with a billet pushing area 7, the inlet end of the billet pushing area 7 is connected with the waiting area in an openable and closable manner, and the outlet end of the billet pushing area 7 is provided with a stacking area. The continuous casting billet 42 output by the continuous casting machine 4 forms a blank body 10 after cutting. The blanks 10 can enter the blank pushing area 7 of the pusher through the blank discharging flow channel and are pushed to the stacking area to be stacked, so that the blanks 10 stacked to a preset number are lifted to the site of the subsequent process from the current stacking area, the blank discharging process is finished, and the blanks 10 are off-line.

In one embodiment, the run-out zone 43 of the continuous casting machine 4 is provided with several parallel run-out runners. The ejection runners are parallel to each other, and a space is left between adjacent ejection runners to avoid interference of the blanks 10 during conveying. A plurality of blank conveying roller ways 44 are respectively arranged in each blank discharging flow passage in the waiting area, the direction pointing to the blank pushing area 7 along the blank discharging flow passages is taken as the blank discharging direction, and the rolling direction of the blank conveying roller ways 44 is arranged along the blank discharging direction, so that the blanks 10 conveyed on the blank conveying roller ways are pushed to advance by the rolling of the blank conveying roller ways 44. Each ejection flow passage is provided with a plurality of cutting roller ways at intervals in the cutting area. Preferably, the cutting roller table is parallel to the slab conveying roller table 44, and the rolling direction of the cutting roller table is set along the slab discharging direction. Each billet discharging flow passage is also provided with a flame cutter 41 connected with the cutting roller way in the cutting area, so that the continuous billet 42 conveyed on the cutting roller way is cut into the billet 10 by the flame cutter 41. One end of each ejection flow channel, which is provided with a waiting area, is connected with the inlet end of the blank pushing area 7 through a lifting baffle 45, so that the opening and closing of the inlet end of the blank pushing area 7 are realized by the lifting motion of the lifting baffle 45. That is, the lifting baffle 45 can stop the blank 10 on the ejection flow channel in the waiting area when in the closed state; when the lifting baffle 45 is in an open state, the blank 10 on the ejection flow channel can advance along with the rolling of the blank conveying roller way 44 in the ejection flow channel until completely entering the blank pushing area 7 of the steel pusher.

In one embodiment, a billet pushing roller way 71 and a billet pushing mechanism 8 are arranged in the billet pushing area 7 of the steel pusher. Wherein, a plurality of blank-pushing roller ways 71 are arranged in the blank-pushing area 7. One end of the blank-pushing roller 71 is the inlet end of the blank-pushing area 7, and the blank-discharging flow channels are respectively connected to the side of the blank-pushing roller 71 which is the inlet end of the blank-pushing area 7. An outlet end of the blank pushing area 7 is formed at least one end of the blank pushing roller table 71 along the blank pushing direction, so that when the blank 10 enters the blank pushing area 7 from the blank discharging flow channel, the length direction of the blank 10 is perpendicular to the blank pushing direction. The blank pushing mechanism 8 is arranged on the blank pushing roller table 71 and can move back and forth along the blank pushing direction. The blank pushing roller ways 71 can enable the blank 10 to enter the blank pushing area 7 according to the blank ejection direction, and the blank continues to move forward under the rolling action of each blank pushing roller way 71 until the blank 10 completely enters the blank pushing area 7. The blank pushing mechanism 8 can push the blank 10 in the blank pushing area 7 into the stacking area on the first cooling bed 5 or the second cooling bed 9 at the end of the blank pushing roller table 71 by moving back and forth along the blank pushing direction.

It can be understood that, in the embodiment of the present invention, the moving direction of the blank pushing mechanism 8 is the blank pushing direction, and the rolling direction of each blank conveying roller table 44 is the blank supplementing direction (the blank supplementing direction is the blank discharging direction of the blank discharging flow channel), the blank pushing direction is perpendicular to the blank supplementing direction, so as to make the blank supplementing operation and the blank pushing operation more smooth.

In order to stop the blank 10 in the blank-pushing area 7 more safely, it is preferable that a fixed baffle 72 is provided at a side of the blank-pushing area 7 opposite to the inlet end of the blank-pushing area 7, and each blank-pushing roller 71, each blank-feeding roller 44 and the fixed baffle 72 are arranged in parallel to stop the blank 10 by the fixed baffle 72 and to ensure that the blank 10 is perpendicular to the blank-pushing direction.

To facilitate the stacking of the green bodies 10, it is preferable that the outlet end of the blank pushing region 7 is connected to a cooling bed, such as the first cooling bed 5 and the second cooling bed 9 shown in fig. 1, and at least one stacking region is formed on each of the first cooling bed 5 and the second cooling bed 9.

In order to facilitate the timely transport of the blanks 10 in the stacking areas to the site of the next working step, it is preferred that a travelling crane 6 is arranged above the pusher, which travelling crane can move between the stacking areas.

In order to improve the billet-pushing efficiency, it is preferable that the outlet end of the billet-pushing zone 7 of the pusher is formed at one end or both ends of the billet-pushing roller table 71. Namely, the outlet end of the blank pushing area 7 is formed at one end or two ends of the blank pushing roller table 71 in the blank pushing area 7, the blank pushing mechanism 8 can push the blank 10 in the blank pushing area 7 to any stacking area through the back and forth movement along the blank pushing direction.

Referring specifically to fig. 1, the blank pushing mechanism 8 can reciprocate left and right above the blank pushing roller table. The left side and the right side of the blank pushing area 7 are respectively connected with a first cooling bed 5 and a second cooling bed 9. When the blank pushing mechanism 8 moves leftwards or rightwards, the blank 10 on the blank pushing roller table 71 can be pushed to the first cooling bed 5 or the second cooling bed 9 respectively. A first 51 and a second 52 pile, respectively, are provided on the first cold bed 5, and a third 91 and a fourth 92 pile, respectively, are provided on the second cold bed 9. The first, second, third and

fourth crenels

51, 52, 91, 92, respectively, are capable of receiving a specified number of blanks 10.

As shown in fig. 2, the automatic control system according to this embodiment includes a blank feeding monitoring subsystem and a blank pushing monitoring subsystem that are connected to each other, and a main control subsystem that is connected to the blank feeding monitoring subsystem and the blank pushing monitoring subsystem, respectively.

And the blank conveying monitoring subsystem is used for acquiring the first blank parameters in the waiting area. And the blank pushing monitoring subsystem is used for acquiring the second blank parameters in the stacking area. And the main control subsystem is used for acquiring the third blank parameters in the cutting area. And the blank conveying monitoring subsystem can calculate and establish a corresponding blank conveying instruction based on the first blank parameters. And the blank pushing monitoring subsystem can calculate and establish a corresponding blank pushing instruction based on the second blank parameters. And the blank pushing monitoring subsystem can calculate and establish a corresponding blank supplementing instruction based on the first blank parameter, the second blank parameter and the third blank parameter. And the main control subsystem can execute corresponding blank conveying operation based on the blank conveying instruction, execute corresponding blank supplementing operation based on the blank supplementing instruction, and execute corresponding blank pushing operation based on the blank pushing instruction.

It can be understood that the blank conveying instruction and the blank conveying operation are specifically as follows: the blank conveying monitoring subsystem acquires image data of the waiting area by using a machine vision means to obtain first blank parameters, so that whether blanks 10 exist at specified positions of each blank discharging flow channel in the waiting area or not is automatically detected. And if a blank body 10 exists in the waiting area of a certain ejection flow channel, the blank conveying monitoring subsystem sends a blank conveying instruction to the main control subsystem. The main control subsystem automatically controls each blank conveying roller table 44 in the corresponding blank discharging flow channel to roll based on the received blank conveying instruction, so as to convey the blank 10 in the cutting area of the blank discharging flow channel into the waiting area until the blank 10 completely enters the waiting area.

It can be understood that the blank supplementing instruction and the blank supplementing operation are specifically as follows: the blank conveying monitoring subsystem acquires image data of the waiting area by using a machine vision means to obtain first blank parameters, so that whether blanks 10 exist at specified positions of each blank discharging flow channel in the waiting area or not is automatically detected. The blank pushing monitoring subsystem acquires image data of the stacking area by using a machine vision means to obtain the stacking number of blanks in the stacking area, obtains the number of blanks in the blank pushing area 7 according to calculation, combines the monitored positions of the blanks in the blank pushing area 7 to obtain a second blank parameter, and further realizes automatic detection and calculates whether a blank 10 exists at a specified position in each blank discharging flow channel in the blank pushing area. The main control subsystem can monitor the continuous casting machine 4 and the flame cutting machine 41 and obtain operation data, so that a third blank parameter can be obtained; the blank pushing monitoring subsystem can also judge whether blank supplement is needed in the blank pushing area 7 or not based on the combination and calculation of the first blank parameter, the second blank parameter and the third blank parameter. When no blank body 10 exists in the blank pushing area 7, the blank pushing monitoring subsystem generates a blank supplementing instruction, and the main control subsystem automatically controls the lifting baffle 45 at the end part of the corresponding blank discharging runner to be opened based on the blank supplementing instruction so as to enable the blank discharging runner to be communicated with the blank pushing area 7, so that the blank body 10 in the blank discharging runner is transmitted into the blank pushing area 7.

It can be understood that the blank pushing instruction and the blank pushing operation are specifically as follows: the blank pushing monitoring subsystem acquires image data of the stacking areas by using a machine vision means and calculates to obtain the stacking quantity of blanks in each stacking area; and the number of the blanks in the blank pushing area 7 is obtained according to the calculation. And obtaining a second blank parameter according to the blank position and the blank number in the blank pushing area 7 and the blank position and the blank stacking number in the stacking area.

And when the stacking quantity of the blanks in the stacking area does not reach the maximum value, the blank pushing monitoring subsystem sends a blank pushing instruction to the main control subsystem. And the main control subsystem receives a blank pushing instruction, namely, a specified number of blanks 10 in the blank pushing area 7 are pushed into the stacking area.

When the stacking quantity of the blanks in the stacking area reaches the maximum value, the blank pushing monitoring subsystem does not send a blank pushing instruction to the main control subsystem any more. And the main control subsystem then no longer pushes the blank 10 into the current stacking area.

When the stacking quantity of the blanks in the stacking area reaches the maximum value, the travelling crane 6 transports the blanks 10 in the stacking area to the site of the next procedure so as to empty the current stacking area, thereby maintaining the effective operation of the blank pushing process.

Further, when the blank pushing area 7 of the device is connected with at least two stacking areas, if the blank stacking number in the current stacking area reaches the maximum value, the blank pushing monitoring subsystem recalculates to obtain other stacking areas capable of stacking the blanks 10, uses the stacking areas as new current stacking areas, and sends a blank pushing instruction to the main control subsystem. And the main control subsystem receives the blank pushing instruction and continues to push the blank body 10 to the current stacking area. The traveling crane 6 transports the green bodies 10 in the stacking area to the next working site.

In one embodiment, the master subsystem includes a second computer 2. The second computer 2 is connected with the flame cutting machine 41, the blank conveying roller way 44, the lifting baffle plate 45, the blank pushing roller way 71 and the blank pushing mechanism 8. The second computer 2 can drive the blank conveying roller way 44 to roll based on the blank conveying instruction, drive the blank conveying roller way 44 and the blank pushing roller way 71 to synchronously roll based on the blank supplementing instruction, drive the blank pushing mechanism 8 to move back and forth along the blank pushing direction based on the blank pushing instruction, and drive the lifting baffle 45 to do lifting movement.

In one embodiment, the feeding monitoring subsystem comprises a first computer 1 and a plurality of cameras. The plurality of cameras are respectively arranged along the ejection flow channel, and at least one camera faces the waiting area so as to acquire image data in the waiting area by using each camera. Each camera is respectively and electrically connected with a first computer 1, the first computer 1 is electrically connected with a second computer 2 of the main control subsystem, and a data interaction channel can be constructed between the first computer 1 and the second computer 2.

In one embodiment, the ejection monitoring subsystem comprises a third computer 3 and several cameras. The cameras are respectively arranged around the cooling beds, and each cooling bed is correspondingly provided with at least one camera respectively so as to acquire image data in the stacking area on the cooling bed by using the cameras. Each camera is respectively and electrically connected with a third computer 3, the third computer 3 is electrically connected with a second computer 2 of the main control subsystem, and a data interaction channel can be constructed between the third computer 3 and the second computer 2.

In one embodiment, the ejection monitoring subsystem further includes a position measurer 34. The position measurer 34 is connected to the third computer 3. The position measurer 34 is used for acquiring the real-time position of the blank pushing mechanism 8. The third computer 3 can judge the optimal stacking area of the blank 10 based on the real-time position of the blank pushing mechanism 8, so as to generate a blank pushing instruction for pushing the blank 10 in the blank pushing area 7 to the optimal stacking area.

In one embodiment, the blank pushing monitoring subsystem further comprises a plurality of travelling crane position receivers respectively connected with the third computer 3. Each stacking area is correspondingly provided with at least one travelling crane position receiver, and the travelling crane position receivers are used for acquiring the position information of the travelling crane 6 when the travelling crane 6 moves into the current stacking area. The blank pushing monitoring subsystem automatically detects the position of the travelling crane 6 above each cooling bed through a travelling crane position receiver by using a non-contact measurement means, so that collision between the blank pushing mechanism 8 and the travelling crane 6 is avoided, and the running safety of equipment is improved.

In order to facilitate data interaction, it is preferable that, as shown in fig. 2, the first computer 1, the second computer 2 and the third computer 3 are connected in pairs, and then data interaction channels are respectively constructed between the first computer 1 and the second computer 2, between the second computer 2 and the third computer 3, and between the first computer 1 and the third computer 3, so that the first computer 1 and the third computer 3 can respectively obtain required data from each other in the processes of data processing and calculation, and can respectively transmit the obtained corresponding commands to the second computer 2 for specific execution operations.

The second computer 2 is used for controlling the movement of the blank conveying roller way 44, the lifting baffle 45, the blank pushing roller way 71 and the blank pushing mechanism 8. The second computer 2 is also used to directly obtain the cutting state of the cutting machine 41 and the basic parameters related to the continuous casting machine 4 and the pusher, so as to obtain the third billet parameters. The blank pushing monitoring subsystem generates a blank supplementing command based on the combination of the first blank parameter, the second blank parameter and the third blank parameter, and the main control subsystem executes blank supplementing operation based on the blank supplementing command. When the blank 10 needs to be conveyed to the lifting baffle 45 of the waiting area, the second computer 2 drives each blank conveying roller table 44 in the corresponding ejection flow channel to roll, so as to realize the feeding motion of the blank 10 on the ejection flow channel. When the blank 10 in the waiting area needs to be sent into the blank pushing area 7 and stays at the fixed baffle 72, the second computer 2 controls the lifting baffle 45 corresponding to the end of the blank discharging flow channel to be opened, so that the blank discharging flow channel is communicated with the blank pushing area 7, and simultaneously, the blank sending roller way 44 in the blank discharging flow channel and the blank pushing roller way 71 in the blank pushing area 7 are driven to roll. When the blank 10 reaches and stays at the fixed baffle 72, the second computer 2 drives the lifting baffle 45 of the ejection flow channel to close, so that the ejection flow channel and the blank pushing area 7 are closed, and simultaneously drives the blank conveying roller way 44 in the ejection flow channel and the blank pushing roller way 71 in the blank pushing area 7 to stop rolling. When the blank 10 in the blank pushing area 7 needs to be pushed into the designated stacking area, the second computer 2 drives the blank pushing mechanism 8 to move leftwards or rightwards according to the blank pushing instruction, and returns to the designated position when the blank pushing mechanism 8 reaches the stacking area.

The first computer 1 is used to detect and track the position of the blank 10 on the ejection channel. As shown in fig. 3, the first computer 1 is connected with a first camera 11, a second camera 12, a third camera 13, and a fourth camera 14, respectively. Wherein, the first camera 11 and the third camera 13 are arranged around the end part of the ejection flow channel close to the flame cutting machine 41, and the second camera 12 and the fourth camera 14 are arranged around the end part of the ejection flow channel close to the lifting baffle 45. The first computer 1 receives the image data of each camera, and detects and identifies the image data by adopting a machine vision means, so as to detect the real-time positions and the blank number of each blank 10 on a plurality of blank discharging runners, and obtain first blank parameters. The first computer 1 sends a blank sending instruction obtained by calculation based on the first blank parameters to the second computer 2; and the first computer 1 sends the first green body parameters to the third computer 3 so that the third computer 3 can perform the correlation calculation based on the first green body parameters.

The third computer 3 is used for detecting the number of blanks in each stacking area on the first cooling bed 5 and the second cooling bed 9, the current position of the blank pushing mechanism 8 and the current position of the travelling crane 6. As shown in fig. 4, the third computer 3 is connected to a fifth camera 32, a sixth camera 36, a first driving position receiver 31, a second driving position receiver 33, a third driving position receiver 35, and a fourth driving position receiver 37, respectively. Wherein the fifth camera 32 and the sixth camera 36 are respectively arranged towards the first cooling bed 5 and the second cooling bed 9; further, the first and second

traveling position receivers

31 and 33 are respectively disposed toward the first and second stack positions 51 and 52 on the first cooling bed 5, and the third and fourth traveling

position receivers

35 and 37 are respectively disposed toward the third and fourth stack positions 91 and 92 on the second cooling bed 9.

The third computer 3 receives the image data of each camera respectively, detects and identifies the image data by adopting a machine vision means, so as to detect the blank quantity in the first stacking position 51, the second stacking position 52, the third stacking position 91 and the fourth stacking position 92 respectively, obtain the blank stacking quantity in each stacking area, detect the current position of the blank pushing mechanism 8, calculate the blank position and the blank quantity in the blank pushing area 7, and obtain a second blank parameter. And the third computer 3 calculates and obtains the blank pushing instruction based on the second blank parameters, and sends the blank pushing instruction to the second computer 2.

The following describes the operation of the apparatus and method according to the embodiment of the present invention in further detail based on fig. 1 to 4.

As shown in fig. 1, the first camera 11, the second camera 12, the third camera 13, and the fourth camera 14 are respectively installed at both sides of a plurality of run-out runners of the continuous casting machine 4, and the respective cameras are respectively obliquely irradiated to the respective run-out runner table 44 from top to bottom. The first computer 1 receives image data containing the positions and the number of the blanks on each ejection flow channel sent by the first camera 11, the second camera 12, the third camera 13 and the fourth camera 14 in real time. The first computer 1 detects and recognizes the image data by machine vision means, thereby detecting whether or not the blank 10 is present at a specified position (for example, a waiting area) in any of the specified ejection runners. When a blank body 10 in any blank discharging flow channel enters the appointed position, the first computer 1 sends a signal that the blank body 10 exists in the current appointed position; similarly, when no blank body 10 exists at the designated position on any ejection flow channel, a signal that no blank body 10 exists at the current designated position is sent out. The signal of the blank-free body 10 at the designated position is a blank sending command. The first computer 1 sends a blank sending instruction to the second computer 2 so as to perform a conveying operation by using the second computer 2, that is, the blanks 10 in each blank discharging runner can be controlled to sequentially enter the waiting area and be stopped by the lifting baffle 45 to wait for subsequent processing.

As shown in fig. 1, a position measurer 34 is installed at one side of the blank pushing mechanism 8 so as to be able to detect the current position of the blank pushing mechanism 8 in real time. And the third computer 3 calculates and obtains a blank pushing instruction based on the current position data of the blank pushing mechanism 8. The third computer 3 sends a blank pushing instruction to the second computer 2, so that the second computer 2 is used for executing a blank pushing operation, namely, a blank pushing mechanism 8 is driven to move so as to push the blanks 10 in the blank pushing area 7 into a designated stacking area. The third computer 3 detects the position of the traveling vehicle in real time based on the first traveling vehicle position receiver 31, the second traveling vehicle position receiver 33, the third traveling vehicle position receiver 35, and the fourth traveling vehicle position receiver 37, and transmits a position signal of the traveling vehicle to the second computer 2. When the travelling crane is positioned above the first stacking position 51, the second stacking position 52, the third stacking position 91 and the fourth stacking position 92 of the first cooling bed 5 and the second cooling bed 9, the second computer 2 can enable the blank pushing mechanism 8 to reasonably avoid the travelling crane 6 during movement, and the safety of equipment operation is improved.

As shown in fig. 1, the fifth camera 32 and the sixth camera 36 are installed at one end or one side of the first cooling bed 5 and the second cooling bed 9, respectively, and irradiate the first cooling bed 5 and the second cooling bed 9 obliquely from top to bottom. The first and second cooling beds 5, 9 are divided into several smaller zones, namely stacking zones, namely the first 51, second 52, third 91 and fourth 92, respectively, according to the physical width of the first 5 and second 9 cooling beds and to the specifications of the blank 10. The third computer 3 receives the image data of the blank body 10 in the first cooling bed 5 and the second cooling bed 9 sent by the fifth camera 32 and the sixth camera 36 in real time. The third computer 3 detects and identifies the image data by machine vision means, detecting the number of blanks in the first 51, second 52, third 91 and fourth 92 stacks. The third computer 3 obtains a blank pushing instruction through calculation, wherein the blank pushing instruction comprises the following steps: when the number of the green bodies in the first stacking position 51, the second stacking position 52, the third stacking position 91 and the fourth stacking position 92 does not reach the maximum stacking amount of the green bodies 10 required by the production process, the green body pushing mechanism 8 can continue to push the green bodies 10 into the stacking area; otherwise, the third computer 3 calculates that the blank 10 is stopped to be pushed into the stacking area. The third computer 3 sends a blank pushing instruction to the second computer 2 so as to execute the blank pushing operation by using the second computer 2.

As shown in FIG. 1, the first 31, second 33, third 35 and fourth 37 vehicle position receivers are mounted adjacent to the first 51, second 52, third 91 and fourth 92 stack positions, respectively. The third computer 3 detects the real-time position of the travelling crane 6 by using each travelling crane position receiver and sends a travelling crane position signal to the second computer 2. When executing the blank pushing operation, the second computer 2 can control the blank pushing mechanism 8 to automatically avoid collision with a lifting appliance of the travelling crane 6 in the moving process, so that the blank pushing mechanism 8 and the travelling crane 6 are protected, and the running safety of equipment is improved.

Further, a plurality of data interactions can be performed between the first computer 1 and the third computer 3. Wherein the first computer 1 sends the first body parameters to the second computer 2 and the third computer 3, respectively. And the third computer 3 calculates to obtain the second blank parameters. The second computer 2 sends the third body parameters to the third computer 3. The third computer 3 can combine the first blank parameter, the second blank parameter and the third blank parameter, that is, the cutting state of the flame cutting machine 41 of each ejection flow channel, the distribution state of the blanks 10 in each ejection flow channel, and the number of blanks in the first stack position 51, the second stack position 52, the third stack position 91 and the fourth stack position 92 are integrated, and the number of blanks to be supplemented in each stack region is calculated and obtained by combining the maximum value of the allowed blank stacking number in each stack region, so that a blank supplementing instruction is generated. And the third computer 3 also generates a blank pushing instruction based on the second blank parameters and sends the blank pushing instruction to the second computer 2 so as to control the blank pushing mechanism 8 to reach the specified steel pushing starting point to wait for pushing the blank 10. Then, the second computer 2 controls the lifting baffle 45 at the end part of the specified ejection flow channel to be opened based on the blank supplementing instruction, so that the corresponding ejection flow channel is communicated with the blank pushing area 7; the second computer 2 simultaneously opens the blank conveying roller ways 44 of the corresponding blank discharging flow passages and the blank pushing roller ways 71 in the blank pushing area 7 based on the blank supplementing instruction, so that the blanks 10 in the corresponding blank discharging flow passages leave the blank conveying roller ways 44 and enter the blank pushing roller ways 71; when the blank body 10 is stopped at the fixed baffle 72, the blank body 10 completely enters the blank pushing area 7 and waits for blank pushing treatment; then, the second computer 2 closes the lifting baffle 45, stops the blank conveying roller way 44 and the blank pushing roller way 71, and then the second computer 2 sends a blank conveying end signal to the third computer 3; the third computer 3 sends a blank pushing instruction to the second computer 2, and the second computer 2 controls the blank pushing mechanism 8 to move from the steel pushing starting point to a specified steel pushing end point, namely a certain stacking area, based on the blank pushing instruction, so that all blanks 10 on the blank pushing roller table 71 from the steel pushing starting point to the steel pushing end point are pushed into the specified stacking area by the blank pushing mechanism 8. And ending the steel pushing process. And the second computer 2 controls the blank pushing mechanism 8 to move to a specified position to wait for next steel pushing based on the blank pushing instruction.

And finally, when the stacking quantity of the blanks in any one stacking area of the first stacking area 51, the second stacking area 52, the third stacking area 91 and the fourth stacking area 92 reaches the maximum value, the travelling crane 6 moves to the position above the stacking area, and all the blanks 10 in the stacking area are hoisted to the site of the next procedure, so that the corresponding stacking area is emptied, the effective operation of the blank discharging procedure is maintained, and the preparation work is carried out for pushing the steel next time.

The above embodiments are merely illustrative of the present invention and are not to be construed as limiting the invention. Although the present invention has been described in detail with reference to the embodiments, it should be understood by those skilled in the art that various combinations, modifications or equivalents may be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention, and the technical solution of the present invention is covered by the claims of the present invention.

In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. Specific meanings of the above terms in the embodiments of the present invention may be understood as appropriate by those of ordinary skill in the art.

In embodiments of the invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "above," and "over" a second feature may mean that the first feature is directly above or obliquely above the second feature, or that only the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

In the description of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the term "computer" should be understood broadly, and may be, for example, a PC, a single chip, or a Programmable Logic Controller (PLC). The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description of the present invention, it should be noted that, unless explicitly specified or limited otherwise, the term "camera" is to be understood broadly, and may be, for example, an analog camera or a digital camera; the camera can be a visible light camera, an infrared camera or an infrared thermal imager; either smart or non-smart cameras may be used. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description of the present invention, it should be noted that, unless otherwise specifically stated or limited, the terms "billet 10" and "billet" are to be understood in a broad sense, and may be, for example, a billet, a rectangular billet, a circular billet, or a slab; can be H-shaped steel billet or X-shaped steel billet; the steel may be a special-shaped steel billet or a non-special-shaped steel billet. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Claims

1. The continuous casting production billet ejection control equipment is characterized by comprising an automatic control system which is respectively connected with a continuous casting machine and a pusher, wherein the continuous casting machine is provided with a billet ejection flow passage, one end of the billet ejection flow passage is provided with a cutting area, the other end of the billet ejection flow passage is provided with a waiting area, the pusher is provided with a billet pushing area, the inlet end of the billet pushing area is in open-close connection with the waiting area, and the outlet end of the billet pushing area is provided with a stacking area;

2. The continuous casting production ejection control device according to claim 1, wherein the blank feeding monitoring subsystem includes a first computer and a plurality of cameras, the plurality of cameras are respectively arranged along the ejection flow path, at least one camera faces the waiting area, each camera is respectively connected with the first computer, and the first computer is connected with the main control subsystem.

3. The continuous casting production ejection control device according to claim 1, wherein the ejection monitoring subsystem comprises a third computer and a plurality of cameras, an outlet end of the ejection area is connected with a cooling bed, at least one stacking area is formed on the cooling bed, each camera is respectively arranged around the cooling bed, and each cooling bed is respectively provided with at least one camera; and each camera is respectively connected with the third computer, and the third computer is connected with the main control subsystem.

4. A continuous casting production ejection control device according to claim 3, wherein the ejection monitoring subsystem further includes a plurality of traveling crane position receivers respectively connected to the third computer, a traveling crane capable of moving between the stacking areas is disposed above the pusher, at least one traveling crane position receiver is correspondingly disposed in each stacking area, and the traveling crane position receivers are used for acquiring position information of the traveling crane when the traveling crane moves into the current stacking area.

5. The continuous casting production ejection control device according to claim 3, wherein the ejection monitoring subsystem further comprises a position measuring device, a blank ejection roller table and a blank ejection mechanism are arranged in the blank ejection area, a plurality of blank conveying roller tables are respectively arranged in the waiting area of the blank ejection flow channel, the blank ejection roller tables are parallel to the blank conveying roller tables, the movement direction of the blank ejection mechanism is taken as a blank ejection direction, the rolling direction of the blank conveying roller tables is taken as a blank supplement direction, and the blank ejection direction is perpendicular to the blank supplement direction;

6. A blank ejection control device for continuous casting production according to claim 5, wherein the main control subsystem comprises a second computer, the inlet end of the blank pushing area is connected with the waiting area through a lifting baffle capable of ascending and descending, the second computer can drive the blank conveying roller way to roll based on the blank conveying instruction, drive the blank conveying roller way and the blank pushing roller way to roll synchronously based on the blank supplementing instruction, drive the blank pushing mechanism to move back and forth along the blank pushing direction based on the blank pushing instruction, and drive the lifting baffle to move up and down.

7. The continuous casting production billet control device according to any one of claims 1 to 6, wherein the continuous casting machine is provided with a plurality of billet runners which are arranged side by side, each billet runner is provided with a plurality of billet conveying roller ways which are arranged at intervals in the waiting area, each billet runner is provided with a plurality of cutting roller ways which are arranged at intervals in the cutting area, each billet runner is further provided with a flame cutter which is connected with the cutting roller ways in the cutting area, and one end of each billet runner, which is provided with the waiting area, is respectively connected with the inlet end of the billet pushing area through a lifting baffle plate; the blank pushing device comprises a blank pushing area, a plurality of blank pushing roller ways are arranged in the blank pushing area, a fixed baffle is arranged on one side of the blank pushing area, which is opposite to the inlet end of the blank pushing area, each blank pushing roller way, each blank conveying roller way and the fixed baffle are arranged in parallel, and the outlet end of the blank pushing area is formed at one end or two ends of each blank pushing roller way.

8. A billet control method based on the billet control apparatus for continuous casting production according to any one of claims 1 to 7, characterized by comprising the steps of:

9. The ejection control method according to claim 8, wherein the first blank parameters include a real-time position and a number of blanks in the waiting area, the second blank parameters include a position and a number of blanks in the blank pushing area and a number of blanks stacked in the stacking area, and the third blank parameters include a real-time position and a number of blanks in the cutting area;

10. The ejection control method according to claim 9, wherein the blank supplement instruction is further: and driving a lifting baffle to be opened to send the blanks in the waiting area to the blank pushing area based on the real-time positions and the number of the blanks in the cutting area and the real-time positions and the number of the blanks in the waiting area, and driving the lifting baffle to be closed after all the blanks enter the blank pushing area.