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

Method and terminal device for measuring burden surface profile of blast furnace, and storage medium Download PDF

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WO2023000540A1
WO2023000540A1 PCT/CN2021/128112 CN2021128112W WO2023000540A1 WO 2023000540 A1 WO2023000540 A1 WO 2023000540A1 CN 2021128112 W CN2021128112 W CN 2021128112W WO 2023000540 A1 WO2023000540 A1 WO 2023000540A1
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radar
ranging
blast furnace
data
measuring
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PCT/CN2021/128112
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French (fr)
Chinese (zh)
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欧燕
严晗
叶理德
秦涔
崔伟
方明新
闫朝付
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中冶南方工程技术有限公司
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/46—Indirect determination of position data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/46—Indirect determination of position data
    • G01S2013/468—Indirect determination of position data by Triangulation, i.e. two antennas or two sensors determine separately the bearing, direction or angle to a target, whereby with the knowledge of the baseline length, the position data of the target is determined

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  • the invention relates to the technical field of blast furnace ironmaking detection, in particular to a method for measuring the shape of a blast furnace material surface, terminal equipment and a storage medium.
  • the blast furnace As a closed container like a black box, the blast furnace has a complex internal environment and it is difficult to obtain information directly.
  • mechanical probes are generally used to collect data on the blast furnace charge level, but the measurement range is small and the data error is large, making it difficult to analyze the distribution of the charge level in the furnace.
  • Later researches and developments have been made to monitor the blast furnace charge level by means of infrared imaging or other imaging methods.
  • this method has caused great interference, and it is difficult to accurately obtain the shape of the charge surface.
  • Another part of the measurement method is to install a certain number of ranging radars in multiple positions on the furnace roof to obtain the approximate shape of the material surface.
  • the present invention proposes a method for measuring the shape of a charge level of a blast furnace, a terminal device and a storage medium.
  • a method for measuring the shape of a charge surface of a blast furnace comprising the following steps:
  • S2 Preprocess the radar ranging data of the measured material surface, and eliminate the abnormal data in it;
  • the method of measuring the position of the material level in the blast furnace by the ranging radar is as follows: by controlling the rotation of the ranging radar, the ranging radar can measure the distance between the material level within the radius of the furnace throat and the ranging radar. Take measurements.
  • the ranging radar includes two, and the two are installed above the furnace throat and on both sides of the same height.
  • the radar ranging data includes the distance between the material surface and the ranging radar and the angle between the pointing of the ranging radar and the horizontal plane.
  • the preprocessing method includes: setting the range of the radar ranging data according to the installation position of the ranging radar, thereby eliminating the radar ranging data not within the range; Radar ranging data whose wave strength is less than the echo strength threshold.
  • x 0 and y 0 are the coordinate values of the X-axis and Y-axis in the coordinate data respectively
  • r represents the radius of the furnace throat
  • h r represents the height from the installation position of the ranging radar to the zero material line
  • h l represents the upper boundary distance of the furnace throat
  • ⁇ represents the angle between the upper furnace wall of the furnace throat and the horizontal plane
  • ⁇ represents the angle between the pointing of the ranging radar and the horizontal plane
  • d 0 represents the distance between the material level and the ranging radar.
  • step S4 specifically includes the following steps:
  • S41 radially segment the material surface, set the X-axis coordinate range corresponding to each segment, and set each segment point as a point to be inserted;
  • y( xi ) and y( xi +d) respectively represent the coordinates in the Y-axis direction when the X-direction coordinates are x i and ( xi +d);
  • y i represents the coordinate in the Y-axis direction corresponding to x i in the coordinate data.
  • a terminal device for measuring the shape of a blast furnace charge surface comprising a processor, a memory, and a computer program stored in the memory and operable on the processor, and the embodiment of the present invention is realized when the processor executes the computer program The steps of the method described above.
  • a computer-readable storage medium stores a computer program.
  • the computer program is executed by a processor, the steps of the above-mentioned method in the embodiment of the present invention are implemented.
  • the present invention adopts the above technical solution, corresponding to the prior art, does not require complicated sensor arrangement, facilitates installation and maintenance, and has better measurement effect compared with general single-point radar measurement.
  • FIG. 1 is a flowchart of Embodiment 1 of the present invention.
  • FIG. 2 is a schematic diagram of the measuring process of the ranging radar in this embodiment.
  • the embodiment of the present invention provides a method for measuring the shape of a charge surface of a blast furnace, as shown in Figure 1, the method includes the following steps:
  • S1 The position of the blast furnace inner material level is measured by the ranging radar installed on the top of the blast furnace.
  • the range-finding radar is adopted in this embodiment, and millimeter-wave radar is used. In other embodiments, those skilled in the art may also use other range-finding radars, which are not limited here.
  • the method for measuring the position of the material level in the blast furnace by the ranging radar in this embodiment is: by controlling the rotation of the ranging radar, the ranging radar can measure the material level and the material level within the furnace throat radius. The distance between the ranging radars is measured.
  • the distance measuring radar it is preferable to set the distance measuring radar to include two, namely R 1 and R 2 , which are installed on both sides above the furnace throat at the same height.
  • R 1 and R 2 only one ranging radar can be installed, and then the material surface shape on the other side (on the same diameter) can be obtained through symmetrical processing.
  • the scanning measurement of the material level by the ranging radar is multiple measurements along the radial direction of the throat within the radius of the throat. In this process, it is not required to scan at equidistant or equal angle steps. It is necessary to sample enough data and the distribution is not concentrated (random).
  • S2 Perform preprocessing on the radar ranging data obtained from the measurement of the material surface, and eliminate abnormal data in it.
  • the radar ranging data includes the distance d 0 between the material level and the ranging radar and the angle ⁇ between the pointing of the ranging radar and the horizontal plane.
  • the preprocessing method in this embodiment includes: setting the range of the radar ranging data according to the installation position of the ranging radar, thereby eliminating the radar ranging data not within the range; according to the set echo intensity threshold, eliminating the Radar ranging data whose echo intensity is less than the echo intensity threshold.
  • the conversion formula is set as:
  • x 0 and y 0 are the coordinate values of the X-axis and Y-axis in the coordinate data respectively
  • r represents the radius of the furnace throat
  • h r represents the height from the installation position of the ranging radar to the zero material line
  • h l represents the upper boundary distance of the furnace throat
  • ⁇ represents the angle between the upper furnace wall and the horizontal plane of the furnace throat.
  • the X axis is parallel to the scanning direction of the ranging radar (the radial direction of the furnace throat), and the Y axis is the vertical direction.
  • Step S4 specifically includes the following steps:
  • S41 radially segment the material surface, set the X-axis coordinate range corresponding to each segment, and set each segment point as a point to be inserted;
  • y( xi ) and y( xi +d) respectively represent the coordinates in the Y-axis direction when the X-direction coordinates are x i and ( xi +d);
  • Fitting method adopts Levenberg-Marquardt method in this embodiment
  • y i represents the coordinate in the Y-axis direction corresponding to x i in the coordinate data.
  • the method of this embodiment is also applicable to the three-dimensional material surface shape measurement of multi-radar sensing.
  • multiple radars are used to measure the material surface from multiple angles, after collecting data, set the data dimension and Euclidean distance in the kriging method
  • the measurement method can perform three-dimensional interpolation fitting on the material surface.
  • the embodiment of the present invention corresponds to the prior art, does not require complex sensor arrangement, facilitates installation and maintenance, and has better measurement effect compared with general single-point radar measurement.
  • the present invention also provides a terminal device for measuring the shape of a blast furnace charge level, including a memory, a processor, and a computer program stored in the memory and operable on the processor, and the computer program is implemented when the processor executes the computer program. Steps in the above method embodiment of Embodiment 1 of the present invention.
  • the terminal equipment for measuring the shape of the blast furnace charge level can be computing equipment such as desktop computers, notebooks, palmtop computers, and cloud servers.
  • the terminal equipment for measuring the shape of the blast furnace charge level may include, but not limited to, a processor and a memory.
  • composition and structure of the above-mentioned blast furnace charge surface shape measurement terminal equipment is only an example of the blast furnace charge surface shape measurement terminal equipment, and does not constitute a limitation on the blast furnace charge surface shape measurement terminal equipment, and may include more than the above or fewer components, or combine some components, or different components, for example, the blast furnace charge surface shape measurement terminal equipment may also include input and output equipment, network access equipment, bus, etc., and this embodiment of the present invention does not limited.
  • the so-called processor can be a central processing unit (Central Processing Unit, CPU), and can also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application-specific integrated circuits ( Application Specific Integrated Circuit, ASIC), Field-Programmable Gate Array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • the general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc., and the processor is the control center of the terminal equipment for measuring the shape of the blast furnace charge level, and uses various interfaces and lines to connect the entire blast furnace charge Surface shape measurement of various parts of terminal equipment.
  • the memory can be used to store the computer programs and/or modules, and the processor realizes the high-level performance by running or executing the computer programs and/or modules stored in the memory and calling the data stored in the memory.
  • the memory may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required by a function; the data storage area may store data created according to the use of the mobile phone, and the like.
  • the memory can include high-speed random access memory, and can also include non-volatile memory, such as hard disk, internal memory, plug-in hard disk, smart memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card , flash card (Flash Card), at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.
  • non-volatile memory such as hard disk, internal memory, plug-in hard disk, smart memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card , flash card (Flash Card), at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.
  • the present invention also provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method in the embodiment of the present invention are implemented.
  • the integrated modules/units of the blast furnace charge surface shape measurement terminal equipment are realized in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium.
  • the present invention realizes all or part of the processes in the methods of the above embodiments, and can also be completed by instructing related hardware through a computer program.
  • the computer program can be stored in a computer-readable storage medium, and the computer When the program is executed by the processor, the steps in the above-mentioned various method embodiments can be realized.
  • the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form.
  • the computer-readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a removable hard disk, a magnetic disk, an optical disk, a computer memory, and a read-only memory (ROM, Read-Only Memory) , Random Access Memory (RAM, Random Access Memory) and software distribution media, etc.

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  • Radar, Positioning & Navigation (AREA)
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  • Radar Systems Or Details Thereof (AREA)

Abstract

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

Description

一种高炉料面形状测量方法、终端设备及存储介质A method for measuring the shape of blast furnace material surface, terminal equipment and storage medium 技术领域technical field
本发明涉及高炉炼铁检测技术领域，尤其涉及一种高炉料面形状测量方法、终端设备及存储介质。The invention relates to the technical field of blast furnace ironmaking detection, in particular to a method for measuring the shape of a blast furnace material surface, terminal equipment and a storage medium.
背景技术Background technique
高炉作为一个黑匣子似的密闭容器，其内部环境复杂，信息很难直接获取。传统技术中一般用机械探尺采集关于高炉料面的数据，但测量范围小，数据误差大，难以分析炉内料面的分布情况。而后研究发展出通过红外成像或其他影像手段监测高炉料面，但由于料面上部温度变化大、粉尘多，对于该方法造成较大干扰，难以准确获取料面形状。还有一部分测量方法是在炉顶多位置开孔安装一定数目的测距雷达，以获取料面的大致形状，但这种方法由于传感器数目较多且传感***复杂，多设备的安装和维护都对现场操作者带来困难，且***运行的实时性难以保证，或是传感数目太少不足以体现料面形状信息。As a closed container like a black box, the blast furnace has a complex internal environment and it is difficult to obtain information directly. In traditional technology, mechanical probes are generally used to collect data on the blast furnace charge level, but the measurement range is small and the data error is large, making it difficult to analyze the distribution of the charge level in the furnace. Later researches and developments have been made to monitor the blast furnace charge level by means of infrared imaging or other imaging methods. However, due to large temperature changes and a lot of dust on the top of the charge surface, this method has caused great interference, and it is difficult to accurately obtain the shape of the charge surface. Another part of the measurement method is to install a certain number of ranging radars in multiple positions on the furnace roof to obtain the approximate shape of the material surface. However, due to the large number of sensors and the complexity of the sensing system in this method, the installation and maintenance of multiple equipment Both bring difficulties to on-site operators, and it is difficult to guarantee the real-time performance of the system operation, or the number of sensors is too small to reflect the shape information of the material surface.
发明内容Contents of the invention
为了解决上述问题，本发明提出了一种高炉料面形状测量方法、终端设备及存储介质。In order to solve the above problems, the present invention proposes a method for measuring the shape of a charge level of a blast furnace, a terminal device and a storage medium.
具体方案如下：The specific plan is as follows:
一种高炉料面形状测量方法，包括以下步骤：A method for measuring the shape of a charge surface of a blast furnace, comprising the following steps:
S1：通过安装于高炉炉顶的测距雷达对高炉内料面的位置进行测量；S1: Measure the position of the blast furnace inner material level through the ranging radar installed on the top of the blast furnace;
S2：对测量得到的料面的雷达测距数据进行预处理，剔除其内的异常数据；S2: Preprocess the radar ranging data of the measured material surface, and eliminate the abnormal data in it;
S3：将雷达测距数据转换为对应的XY直角坐标系中的坐标数据；S3: converting the radar ranging data into coordinate data in the corresponding XY rectangular coordinate system;
S4：通过克里金插值法，使用坐标数据对料面形状进行拟合。S4: Using kriging interpolation method, use the coordinate data to fit the material surface shape.
进一步的，通过测距雷达对高炉内料面的位置进行测量的方法为：通过控制测距雷达的旋转，以使测距雷达对炉喉半径范围内的料面与测距雷达之间的距离进行测量。Further, the method of measuring the position of the material level in the blast furnace by the ranging radar is as follows: by controlling the rotation of the ranging radar, the ranging radar can measure the distance between the material level within the radius of the furnace throat and the ranging radar. Take measurements.
进一步的，测距雷达包括两个，两者安装于炉喉上方且相同高度的两侧。Further, the ranging radar includes two, and the two are installed above the furnace throat and on both sides of the same height.
进一步的，雷达测距数据包括料面与测距雷达之间的距离和测距雷达指向与水平面的夹角。Further, the radar ranging data includes the distance between the material surface and the ranging radar and the angle between the pointing of the ranging radar and the horizontal plane.
进一步的，预处理的方法包括：根据测距雷达的安装位置设定雷达测距数据的范围，从而剔除掉不在该范围内的雷达测距数据；根据设定的回波强度阈值，剔除掉回波强度小于回波强度阈值的雷达测距数据。Further, the preprocessing method includes: setting the range of the radar ranging data according to the installation position of the ranging radar, thereby eliminating the radar ranging data not within the range; Radar ranging data whose wave strength is less than the echo strength threshold.
进一步的，将雷达测距数据转换为对应的XY直角坐标系中的坐标数据的计算公式为：Further, the calculation formula for converting the radar ranging data into the coordinate data in the corresponding XY rectangular coordinate system is:
Figure PCTCN2021128112-appb-000001
Figure PCTCN2021128112-appb-000001
y 0＝d 0sinα-h r y 0 ＝d 0 sinα-h r
其中，x 0、y 0分别为坐标数据中的X轴和Y轴的坐标值，r表示炉喉半径，h r表示测距雷达安装位置距零料线高度，h l表示炉喉上边界距零料线高度，γ表示炉喉上炉壁与水平面的夹角，α表示测距雷达指向与水平面的夹角，d 0表示料面与测距雷达之间的距离。 Among them, x 0 and y 0 are the coordinate values of the X-axis and Y-axis in the coordinate data respectively, r represents the radius of the furnace throat, h r represents the height from the installation position of the ranging radar to the zero material line, and h l represents the upper boundary distance of the furnace throat The height of the zero material line, γ represents the angle between the upper furnace wall of the furnace throat and the horizontal plane, α represents the angle between the pointing of the ranging radar and the horizontal plane, and d 0 represents the distance between the material level and the ranging radar.
进一步的，步骤S4具体包括以下步骤：Further, step S4 specifically includes the following steps:
S41：对料面进行径向分段，设定各段对应的X轴坐标范围，将各分段点设为待插点；S41: radially segment the material surface, set the X-axis coordinate range corresponding to each segment, and set each segment point as a point to be inserted;
S42：计算坐标数据中任意两个坐标数据x i和x j之间的距离d ij＝x i-x j，并根据距离的大小将计算的所有距离进行分组；其中，i＝0,1,…,n，j＝0,1,…,n，n表示坐标数据的总数，i和j表示坐标数据的序号，x i和x j分别表示第i和j个坐标数据在X轴方向的坐标； S42: Calculate the distance d ij = xi -x j between any two coordinate data x i and x j in the coordinate data, and group all the calculated distances according to the size of the distance; where, i=0,1, ..., n, j=0, 1, ..., n, n represents the total number of coordinate data, i and j represent the serial number of the coordinate data, x i and x j represent the coordinates of the i and j coordinate data in the X-axis direction respectively ;
S43：计算每组中所有距离的平均值d，并根据下式计算每组对应的半方差函数的估计值γ *(d)： S43: Calculate the average value d of all distances in each group, and calculate the estimated value γ * (d) of the semivariance function corresponding to each group according to the following formula:
Figure PCTCN2021128112-appb-000002
Figure PCTCN2021128112-appb-000002
其中，y(x i)和y(x i+d)分别表示X方向坐标为x i和(x i+d)时所对应的Y轴方向坐标； Wherein, y( xi ) and y( xi +d) respectively represent the coordinates in the Y-axis direction when the X-direction coordinates are x i and ( xi +d);
S44：构建半方差函数模型为：γ(d)＝c(1-e -d/r)，其中，c和r均为半方差函数模型中的参数，γ(d)表示半方差运算，根据半方差函数模型对每组对应的半方差函数的估计值γ *(d)进行拟合，得到拟合后的半方差函数模型； S44: Construct the semivariogram function model as: γ(d)=c(1-e- d/r ), wherein, c and r are parameters in the semivariogram function model, and γ(d) represents the semivariogram operation, according to The semivariogram function model fits the estimated value γ * (d) of each corresponding semivariogram function to obtain the fitted semivariogram function model;
S45：构建下列线性方程组：S45: Construct the following linear equations:
Figure PCTCN2021128112-appb-000003
Figure PCTCN2021128112-appb-000003
根据拟合后的半方差函数模型和公式r ij＝γ(d ij)，计算任意两个坐标数据x i 和x j属性的半方差r ij，进而得到线性方程组中的系数矩阵：
Figure PCTCN2021128112-appb-000004
According to the fitted semivariogram function model and the formula r ij =γ(d ij ), calculate the semivariance r ij of any two coordinate data x i and x j attributes, and then obtain the coefficient matrix in the linear equation system:
Figure PCTCN2021128112-appb-000004
S46：针对每个待插点x 0，计算x 0与任意坐标数据x i属性的半方差r i0，进而得到待插点x 0对应的线性方程组中的右侧列阵：
Figure PCTCN2021128112-appb-000005
S46: For each point x 0 to be inserted, calculate the semivariance r i0 between x 0 and the attribute of any coordinate data x i , and then obtain the right array in the linear equation system corresponding to the point x 0 to be inserted:
Figure PCTCN2021128112-appb-000005
S47：根据线性方程组中的系数矩阵和右侧列阵求解线性方程组，得到待插点x 0对应的权重列阵：
Figure PCTCN2021128112-appb-000006
S47: Solve the linear equation system according to the coefficient matrix and the right array in the linear equation system, and obtain the weight array corresponding to the point x 0 to be interpolated:
Figure PCTCN2021128112-appb-000006
S48：针对每个待插点x 0，根据待插点x 0对应的权重列阵，通过下式计算该待插点x 0的估计值
Figure PCTCN2021128112-appb-000007
S48: For each point x 0 to be inserted, according to the weight array corresponding to the point x 0 to be inserted, calculate the estimated value of the point x 0 to be inserted by the following formula
Figure PCTCN2021128112-appb-000007
Figure PCTCN2021128112-appb-000008
Figure PCTCN2021128112-appb-000008
其中，y i表示坐标数据中x i对应的Y轴方向的坐标。 Wherein, y i represents the coordinate in the Y-axis direction corresponding to x i in the coordinate data.
一种高炉料面形状测量终端设备，包括处理器、存储器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现本发明实施例上述的方法的步骤。A terminal device for measuring the shape of a blast furnace charge surface, comprising a processor, a memory, and a computer program stored in the memory and operable on the processor, and the embodiment of the present invention is realized when the processor executes the computer program The steps of the method described above.
一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现本发明实施例上述的方法的步骤。A computer-readable storage medium. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the steps of the above-mentioned method in the embodiment of the present invention are implemented.
本发明采用如上技术方案，相对应现有技术，不需要复杂的传感器布置， 利于安装维护，且相对于一般单点雷达测量，具有更好的测量效果。The present invention adopts the above technical solution, corresponding to the prior art, does not require complicated sensor arrangement, facilitates installation and maintenance, and has better measurement effect compared with general single-point radar measurement.
附图说明Description of drawings
图1所示为本发明实施例一的流程图。FIG. 1 is a flowchart of Embodiment 1 of the present invention.
图2所示为该实施例中测距雷达测量过程示意图。FIG. 2 is a schematic diagram of the measuring process of the ranging radar in this embodiment.
具体实施方式detailed description
为进一步说明各实施例，本发明提供有附图。这些附图为本发明揭露内容的一部分，其主要用以说明实施例，并可配合说明书的相关描述来解释实施例的运作原理。配合参考这些内容，本领域普通技术人员应能理解其他可能的实施方式以及本发明的优点。To further illustrate the various embodiments, the present invention is provided with accompanying drawings. These drawings are a part of the disclosure of the present invention, which are mainly used to illustrate the embodiments, and can be combined with related descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, those skilled in the art should understand other possible implementations and advantages of the present invention.
现结合附图和具体实施方式对本发明进一步说明。The present invention will be further described in conjunction with the accompanying drawings and specific embodiments.
实施例一：Embodiment one:
本发明实施例提供了一种高炉料面形状测量方法，如图1所示，所述方法包括以下步骤：The embodiment of the present invention provides a method for measuring the shape of a charge surface of a blast furnace, as shown in Figure 1, the method includes the following steps:
S1：通过安装于高炉炉顶的测距雷达对高炉内料面的位置进行测量。S1: The position of the blast furnace inner material level is measured by the ranging radar installed on the top of the blast furnace.
测距雷达该实施例中采用毫米波雷达，在其他实施例中本领域技术人员也可以采用其他测距雷达，在此不做限定。The range-finding radar is adopted in this embodiment, and millimeter-wave radar is used. In other embodiments, those skilled in the art may also use other range-finding radars, which are not limited here.
如图2所示，该实施例中通过测距雷达对高炉内料面的位置进行测量的方法为：通过控制测距雷达的旋转，以使测距雷达对炉喉半径范围内的料面与测距雷达之间的距离进行测量。As shown in Figure 2, the method for measuring the position of the material level in the blast furnace by the ranging radar in this embodiment is: by controlling the rotation of the ranging radar, the ranging radar can measure the material level and the material level within the furnace throat radius. The distance between the ranging radars is measured.
该实施例中优选设定测距雷达包括两个，分别为R 1、R 2，两者安装于炉喉 上方且相同高度的两侧。在其他实施例中也可以只安装一个测距雷达，之后通过对称处理得到另一侧(同一直径上)的料面形状。 In this embodiment, it is preferable to set the distance measuring radar to include two, namely R 1 and R 2 , which are installed on both sides above the furnace throat at the same height. In other embodiments, only one ranging radar can be installed, and then the material surface shape on the other side (on the same diameter) can be obtained through symmetrical processing.
测距雷达对料面的扫描测量为在炉喉半径范围内沿炉喉径向方向进行的多次测量，在这一过程中，并不要求以等距或等角度的步长进行扫描，只需采样足够数据且分布不集中(随机)即可。The scanning measurement of the material level by the ranging radar is multiple measurements along the radial direction of the throat within the radius of the throat. In this process, it is not required to scan at equidistant or equal angle steps. It is necessary to sample enough data and the distribution is not concentrated (random).
S2：对测量得到的料面的雷达测距数据进行预处理，剔除其内的异常数据。S2: Perform preprocessing on the radar ranging data obtained from the measurement of the material surface, and eliminate abnormal data in it.
该实施例中雷达测距数据包括料面与测距雷达之间的距离d 0和测距雷达指向与水平面的夹角α。 In this embodiment, the radar ranging data includes the distance d 0 between the material level and the ranging radar and the angle α between the pointing of the ranging radar and the horizontal plane.
该实施例中预处理的方法包括：根据测距雷达的安装位置设定雷达测距数据的范围，从而剔除掉不在该范围内的雷达测距数据；根据设定的回波强度阈值，剔除掉回波强度小于回波强度阈值的雷达测距数据。The preprocessing method in this embodiment includes: setting the range of the radar ranging data according to the installation position of the ranging radar, thereby eliminating the radar ranging data not within the range; according to the set echo intensity threshold, eliminating the Radar ranging data whose echo intensity is less than the echo intensity threshold.
S3：将雷达测距数据转换为对应的XY直角坐标系中的坐标数据(x 0,y 0)。 S3: Convert the radar ranging data into coordinate data (x 0, y 0 ) in the corresponding XY rectangular coordinate system.
该实施例中设定转换公式为：In this embodiment, the conversion formula is set as:
Figure PCTCN2021128112-appb-000009
Figure PCTCN2021128112-appb-000009
y 0＝d 0sinα-h r y 0 ＝d 0 sinα-h r
其中，x 0、y 0分别为坐标数据中的X轴和Y轴的坐标值，r表示炉喉半径，h r表示测距雷达安装位置距零料线高度，h l表示炉喉上边界距零料线高度，γ表示炉喉上炉壁与水平面的夹角。 Among them, x 0 and y 0 are the coordinate values of the X-axis and Y-axis in the coordinate data respectively, r represents the radius of the furnace throat, h r represents the height from the installation position of the ranging radar to the zero material line, and h l represents the upper boundary distance of the furnace throat The height of the zero material line, γ represents the angle between the upper furnace wall and the horizontal plane of the furnace throat.
需要说明的是，XY直角坐标系中，X轴平行于测距雷达的扫描方向(炉喉的径向)，Y轴为竖直方向。It should be noted that, in the XY rectangular coordinate system, the X axis is parallel to the scanning direction of the ranging radar (the radial direction of the furnace throat), and the Y axis is the vertical direction.
S4：通过克里金插值法，使用坐标数据对料面形状进行拟合。S4: Using kriging interpolation method, use the coordinate data to fit the material surface shape.
步骤S4具体包括以下步骤：Step S4 specifically includes the following steps:
S41：对料面进行径向分段，设定各段对应的X轴坐标范围，将各分段点设为待插点；S41: radially segment the material surface, set the X-axis coordinate range corresponding to each segment, and set each segment point as a point to be inserted;
S42：计算坐标数据中任意两个坐标数据x i和x j之间的距离d ij＝x i-x j，并根据距离的大小将计算的所有距离进行分组；其中，i＝0,1,…,n，j＝0,1,…,n，n表示坐标数据的总数，i和j表示坐标数据的序号，x i和x j分别表示第i和j个坐标数据在X轴方向的坐标； S42: Calculate the distance d ij = xi -x j between any two coordinate data x i and x j in the coordinate data, and group all the calculated distances according to the size of the distance; where, i=0,1, ..., n, j=0, 1, ..., n, n represents the total number of coordinate data, i and j represent the serial number of the coordinate data, x i and x j represent the coordinates of the i and j coordinate data in the X-axis direction respectively ;
S43：计算每组中所有距离的平均值d，并根据下式计算每组对应的半方差函数的估计值γ *(d)： S43: Calculate the average value d of all distances in each group, and calculate the estimated value γ * (d) of the semivariance function corresponding to each group according to the following formula:
Figure PCTCN2021128112-appb-000010
Figure PCTCN2021128112-appb-000010
其中，y(x i)和y(x i+d)分别表示X方向坐标为x i和(x i+d)时所对应的Y轴方向坐标； Wherein, y( xi ) and y( xi +d) respectively represent the coordinates in the Y-axis direction when the X-direction coordinates are x i and ( xi +d);
S44：构建半方差函数模型为：γ(d)＝c(1-e -d/r)，其中，c和r均为半方差函数模型中的参数，γ(d)表示半方差运算，根据半方差函数模型对每组对应的半方差函数的估计值γ *(d)进行拟合，得到拟合后的半方差函数模型； S44: Construct the semivariogram function model as: γ(d)=c(1-e- d/r ), wherein, c and r are parameters in the semivariogram function model, and γ(d) represents the semivariogram operation, according to The semivariogram function model fits the estimated value γ * (d) of each corresponding semivariogram function to obtain the fitted semivariogram function model;
该实施例中拟合方法采用Levenberg-Marquardt法；Fitting method adopts Levenberg-Marquardt method in this embodiment;
S45：构建下列线性方程组：S45: Construct the following linear equations:
Figure PCTCN2021128112-appb-000011
Figure PCTCN2021128112-appb-000011
根据拟合后的半方差函数模型和公式r ij＝γ(d ij)，计算任意两个坐标数据x i和x j属性的半方差r ij，进而得到线性方程组中的系数矩阵：
Figure PCTCN2021128112-appb-000012
According to the fitted semivariogram function model and the formula r ij =γ(d ij ), calculate the semivariance r ij of any two coordinate data x i and x j attributes, and then obtain the coefficient matrix in the linear equation system:
Figure PCTCN2021128112-appb-000012
S46：针对每个待插点x 0，计算x 0与任意坐标数据x i属性的半方差r i0，进而得到待插点x 0对应的线性方程组中的右侧列阵：
Figure PCTCN2021128112-appb-000013
S46: For each point x 0 to be inserted, calculate the semivariance r i0 between x 0 and the attribute of any coordinate data x i , and then obtain the right array in the linear equation system corresponding to the point x 0 to be inserted:
Figure PCTCN2021128112-appb-000013
S47：根据线性方程组中的系数矩阵和右侧列阵求解线性方程组，得到待插点x 0对应的权重列阵：
Figure PCTCN2021128112-appb-000014
S47: Solve the linear equation system according to the coefficient matrix and the right array in the linear equation system, and obtain the weight array corresponding to the point x 0 to be interpolated:
Figure PCTCN2021128112-appb-000014
S48：针对每个待插点x 0，根据待插点x 0对应的权重列阵，通过下式计算该待插点x 0的估计值
Figure PCTCN2021128112-appb-000015
S48: For each point x 0 to be inserted, according to the weight array corresponding to the point x 0 to be inserted, calculate the estimated value of the point x 0 to be inserted by the following formula
Figure PCTCN2021128112-appb-000015
Figure PCTCN2021128112-appb-000016
Figure PCTCN2021128112-appb-000016
其中，y i表示坐标数据中x i对应的Y轴方向的坐标。 Wherein, y i represents the coordinate in the Y-axis direction corresponding to x i in the coordinate data.
本实施例方法同样适用于多雷达传感的三维料面形状测量，当采用多个雷达从多个角度对料面测量时，采集数据后，设置好克里金法中的数据维度和欧式距离计量方式，即可对料面进行三维插值拟合。The method of this embodiment is also applicable to the three-dimensional material surface shape measurement of multi-radar sensing. When multiple radars are used to measure the material surface from multiple angles, after collecting data, set the data dimension and Euclidean distance in the kriging method The measurement method can perform three-dimensional interpolation fitting on the material surface.
本发明实施例相对应现有技术，不需要复杂的传感器布置，利于安装维护，且相对于一般单点雷达测量，具有更好的测量效果。The embodiment of the present invention corresponds to the prior art, does not require complex sensor arrangement, facilitates installation and maintenance, and has better measurement effect compared with general single-point radar measurement.
实施例二：Embodiment two:
本发明还提供一种高炉料面形状测量终端设备，包括存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现本发明实施例一的上述方法实施例中的步骤。The present invention also provides a terminal device for measuring the shape of a blast furnace charge level, including a memory, a processor, and a computer program stored in the memory and operable on the processor, and the computer program is implemented when the processor executes the computer program. Steps in the above method embodiment of Embodiment 1 of the present invention.
进一步地，作为一个可执行方案，所述高炉料面形状测量终端设备可以是桌上型计算机、笔记本、掌上电脑及云端服务器等计算设备。所述高炉料面形状测量终端设备可包括，但不仅限于，处理器、存储器。本领域技术人员可以理解，上述高炉料面形状测量终端设备的组成结构仅仅是高炉料面形状测量终端设备的示例，并不构成对高炉料面形状测量终端设备的限定，可以包括比上述更多或更少的部件，或者组合某些部件，或者不同的部件，例如所述高炉料面形状测量终端设备还可以包括输入输出设备、网络接入设备、总线等，本发明实施例对此不做限定。Further, as an executable solution, the terminal equipment for measuring the shape of the blast furnace charge level can be computing equipment such as desktop computers, notebooks, palmtop computers, and cloud servers. The terminal equipment for measuring the shape of the blast furnace charge level may include, but not limited to, a processor and a memory. Those skilled in the art can understand that the composition and structure of the above-mentioned blast furnace charge surface shape measurement terminal equipment is only an example of the blast furnace charge surface shape measurement terminal equipment, and does not constitute a limitation on the blast furnace charge surface shape measurement terminal equipment, and may include more than the above or fewer components, or combine some components, or different components, for example, the blast furnace charge surface shape measurement terminal equipment may also include input and output equipment, network access equipment, bus, etc., and this embodiment of the present invention does not limited.
进一步地，作为一个可执行方案，所称处理器可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现场可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等，所述处理器是所述高炉料面形状测量终端设备的控制中心，利用各种接口和线路连接整个高炉料面形状测量终端设备的各个部分。Further, as an executable solution, the so-called processor can be a central processing unit (Central Processing Unit, CPU), and can also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application-specific integrated circuits ( Application Specific Integrated Circuit, ASIC), Field-Programmable Gate Array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc., and the processor is the control center of the terminal equipment for measuring the shape of the blast furnace charge level, and uses various interfaces and lines to connect the entire blast furnace charge Surface shape measurement of various parts of terminal equipment.
所述存储器可用于存储所述计算机程序和/或模块，所述处理器通过运行或执行存储在所述存储器内的计算机程序和/或模块，以及调用存储在存储器内的 数据，实现所述高炉料面形状测量终端设备的各种功能。所述存储器可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作***、至少一个功能所需的应用程序；存储数据区可存储根据手机的使用所创建的数据等。此外，存储器可以包括高速随机存取存储器，还可以包括非易失性存储器，例如硬盘、内存、插接式硬盘，智能存储卡(Smart Media Card,SMC)，安全数字(Secure Digital,SD)卡，闪存卡(Flash Card)、至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。The memory can be used to store the computer programs and/or modules, and the processor realizes the high-level performance by running or executing the computer programs and/or modules stored in the memory and calling the data stored in the memory. Various functions of charge surface shape measurement terminal equipment. The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required by a function; the data storage area may store data created according to the use of the mobile phone, and the like. In addition, the memory can include high-speed random access memory, and can also include non-volatile memory, such as hard disk, internal memory, plug-in hard disk, smart memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card , flash card (Flash Card), at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.
本发明还提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现本发明实施例上述方法的步骤。The present invention also provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method in the embodiment of the present invention are implemented.
所述高炉料面形状测量终端设备集成的模块/单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明实现上述实施例方法中的全部或部分流程，也可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一计算机可读存储介质中，该计算机程序在被处理器执行时，可实现上述各个方法实施例的步骤。其中，所述计算机程序包括计算机程序代码，所述计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。所述计算机可读介质可以包括：能够携带所述计算机程序代码的任何实体或装置、记录介质、U盘、移动硬盘、磁碟、光盘、计算机存储器、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)以及软件分发介质等。If the integrated modules/units of the blast furnace charge surface shape measurement terminal equipment are realized in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the present invention realizes all or part of the processes in the methods of the above embodiments, and can also be completed by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer When the program is executed by the processor, the steps in the above-mentioned various method embodiments can be realized. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a removable hard disk, a magnetic disk, an optical disk, a computer memory, and a read-only memory (ROM, Read-Only Memory) , Random Access Memory (RAM, Random Access Memory) and software distribution media, etc.
尽管结合优选实施方案具体展示和介绍了本发明，但所属领域的技术人员 应该明白，在不脱离所附权利要求书所限定的本发明的精神和范围内，在形式上和细节上可以对本发明做出各种变化，均为本发明的保护范围。Although the present invention has been particularly shown and described in conjunction with preferred embodiments, it will be understood by those skilled in the art that changes in form and details may be made to the present invention without departing from the spirit and scope of the invention as defined by the appended claims. Making various changes is within the protection scope of the present invention.

Claims (9)

  1. 一种高炉料面形状测量方法，其特征在于，包括以下步骤：A method for measuring the shape of a charge surface of a blast furnace is characterized in that it comprises the following steps:
    S1：通过安装于高炉炉顶的测距雷达对高炉内料面的位置进行测量；S1: Measure the position of the blast furnace inner material level through the ranging radar installed on the top of the blast furnace;
    S2：对测量得到的料面的雷达测距数据进行预处理，剔除其内的异常数据；S2: Preprocess the radar ranging data of the measured material surface, and eliminate the abnormal data in it;
    S3：将雷达测距数据转换为对应的XY直角坐标系中的坐标数据；S3: converting the radar ranging data into coordinate data in the corresponding XY rectangular coordinate system;
    S4：通过克里金插值法，使用坐标数据对料面形状进行拟合。S4: Using kriging interpolation method, use the coordinate data to fit the material surface shape.
  2. 根据权利要求1所述的高炉料面形状测量方法，其特征在于：通过测距雷达对高炉内料面的位置进行测量的方法为：通过控制测距雷达的旋转，以使测距雷达对炉喉半径范围内的料面与测距雷达之间的距离进行测量。The method for measuring the shape of the charge surface of a blast furnace according to claim 1, wherein the method of measuring the position of the charge surface in the blast furnace by the ranging radar is: by controlling the rotation of the ranging radar, so that the ranging radar is on the furnace. The distance between the material level within the throat radius and the ranging radar is measured.
  3. 根据权利要求1所述的高炉料面形状测量方法，其特征在于：测距雷达包括两个，两者安装于炉喉上方且相同高度的两侧。The method for measuring the shape of the charge level of a blast furnace according to claim 1, characterized in that: the distance measuring radar includes two, and the two are installed on both sides above the furnace throat and at the same height.
  4. 根据权利要求1所述的高炉料面形状测量方法，其特征在于：雷达测距数据包括料面与测距雷达之间的距离和测距雷达指向与水平面的夹角。The method for measuring the shape of the charge level of a blast furnace according to claim 1, wherein the radar ranging data includes the distance between the charge level and the ranging radar and the angle between the pointing of the ranging radar and the horizontal plane.
  5. 根据权利要求1所述的高炉料面形状测量方法，其特征在于：预处理的方法包括：根据测距雷达的安装位置设定雷达测距数据的范围，从而剔除掉不在该范围内的雷达测距数据；根据设定的回波强度阈值，剔除掉回波强度小于回波强度阈值的雷达测距数据。The method for measuring the shape of the blast furnace charge surface according to claim 1, wherein the preprocessing method includes: setting the range of the radar ranging data according to the installation position of the ranging radar, thereby eliminating the radar ranging data not within the range. According to the set echo intensity threshold, the radar ranging data whose echo intensity is less than the echo intensity threshold is eliminated.
  6. 根据权利要求1所述的高炉料面形状测量方法，其特征在于：将雷达测距数据转换为对应的XY直角坐标系中的坐标数据的计算公式为：The method for measuring the shape of the charge surface of a blast furnace according to claim 1, characterized in that: the calculation formula for converting the radar ranging data into coordinate data in the corresponding XY Cartesian coordinate system is:
    Figure PCTCN2021128112-appb-100001
    Figure PCTCN2021128112-appb-100001
    y 0＝d 0sinα-h r y 0 ＝d 0 sinα-h r
    其中，x 0、y 0分别为坐标数据中的X轴和Y轴的坐标值，r表示炉喉半径，h r表示测距雷达安装位置距零料线高度，h l表示炉喉上边界距零料线高度，γ表示炉喉上炉壁与水平面的夹角，α表示测距雷达指向与水平面的夹角，d 0表示料面与测距雷达之间的距离。 Among them, x 0 and y 0 are the coordinate values of the X-axis and Y-axis in the coordinate data respectively, r represents the radius of the furnace throat, h r represents the height from the installation position of the ranging radar to the zero material line, and h l represents the upper boundary distance of the furnace throat The height of the zero material line, γ represents the angle between the upper furnace wall of the furnace throat and the horizontal plane, α represents the angle between the pointing of the ranging radar and the horizontal plane, and d 0 represents the distance between the material level and the ranging radar.
  7. 根据权利要求1所述的高炉料面形状测量方法，其特征在于：步骤S4具体包括以下步骤：The method for measuring the shape of the charge surface of a blast furnace according to claim 1, wherein step S4 specifically comprises the following steps:
    S41：对料面进行径向分段，设定各段对应的X轴坐标范围，将各分段点设为待插点；S41: radially segment the material surface, set the X-axis coordinate range corresponding to each segment, and set each segment point as a point to be inserted;
    S42：计算坐标数据中任意两个坐标数据x i和x j之间的距离d ij＝x i-x j，并根据距离的大小将计算的所有距离进行分组；其中，i＝0,1,…,n，j＝0,1,…,n，n表示坐标数据的总数，i和j表示坐标数据的序号，x i和x j分别表示第i和j个坐标数据在X轴方向的坐标； S42: Calculate the distance d ij = xi -x j between any two coordinate data x i and x j in the coordinate data, and group all the calculated distances according to the size of the distance; where, i=0,1, ..., n, j=0, 1, ..., n, n represents the total number of coordinate data, i and j represent the serial number of the coordinate data, x i and x j represent the coordinates of the i and j coordinate data in the X-axis direction respectively ;
    S43：计算每组中所有距离的平均值d，并根据下式计算每组对应的半方差函数的估计值γ *(d)： S43: Calculate the average value d of all distances in each group, and calculate the estimated value γ * (d) of the semivariance function corresponding to each group according to the following formula:
    Figure PCTCN2021128112-appb-100002
    Figure PCTCN2021128112-appb-100002
    其中，y(x i)和y(x i+d)分别表示X方向坐标为x i和(x i+d)时所对应的Y轴方向坐标； Wherein, y( xi ) and y( xi +d) respectively represent the coordinates in the Y-axis direction when the X-direction coordinates are x i and ( xi +d);
    S44：构建半方差函数模型为：γ(d)＝c(1-e -d/r)，其中，c和r均为半方差函数模型中的参数，γ(d)表示半方差运算，根据半方差函数模型对每组对应的半方差函数的估计值γ *(d)进行拟合，得到拟合后的半方差函数模型； S44: Construct the semivariogram function model as: γ(d)=c(1-e- d/r ), wherein, c and r are parameters in the semivariogram function model, and γ(d) represents the semivariogram operation, according to The semivariogram function model fits the estimated value γ * (d) of each corresponding semivariogram function to obtain the fitted semivariogram function model;
    S45：构建下列线性方程组：S45: Construct the following linear equations:
    Figure PCTCN2021128112-appb-100003
    Figure PCTCN2021128112-appb-100003
    根据拟合后的半方差函数模型和公式r ij＝γ(d ij)，计算任意两个坐标数据x i和x j属性的半方差r ij，进而得到线性方程组中的系数矩阵：
    Figure PCTCN2021128112-appb-100004
    According to the fitted semivariogram function model and the formula r ij =γ(d ij ), calculate the semivariance r ij of any two coordinate data x i and x j attributes, and then obtain the coefficient matrix in the linear equation system:
    Figure PCTCN2021128112-appb-100004
    S46：针对每个待插点x 0，计算x 0与任意坐标数据x i属性的半方差r i0，进而得到待插点x 0对应的线性方程组中的右侧列阵：
    Figure PCTCN2021128112-appb-100005
    S46: For each point x 0 to be inserted, calculate the semivariance r i0 between x 0 and any coordinate data x i attribute, and then obtain the right array in the linear equation system corresponding to the point x 0 to be inserted:
    Figure PCTCN2021128112-appb-100005
    S47：根据线性方程组中的系数矩阵和右侧列阵求解线性方程组，得到待插点x 0对应的权重列阵：
    Figure PCTCN2021128112-appb-100006
    S47: Solve the linear equation system according to the coefficient matrix and the right array in the linear equation system, and obtain the weight array corresponding to the point x 0 to be interpolated:
    Figure PCTCN2021128112-appb-100006
    S48：针对每个待插点x 0，根据待插点x 0对应的权重列阵，通过下式计算该待插点x 0的估计值
    Figure PCTCN2021128112-appb-100007
    S48: For each point x 0 to be inserted, according to the weight array corresponding to the point x 0 to be inserted, calculate the estimated value of the point x 0 to be inserted by the following formula
    Figure PCTCN2021128112-appb-100007
    Figure PCTCN2021128112-appb-100008
    Figure PCTCN2021128112-appb-100008
    其中，y i表示坐标数据中x i对应的Y轴方向的坐标。 Wherein, y i represents the coordinate in the Y-axis direction corresponding to x i in the coordinate data.
  8. 一种高炉料面形状测量终端设备，其特征在于：包括处理器、存储器以及存储在所述存储器中并在所述处理器上运行的计算机程序，所述处理器执行所 述计算机程序时实现如权利要求1～7中任一所述方法的步骤。A terminal device for measuring the shape of a blast furnace charge surface, characterized in that it includes a processor, a memory, and a computer program stored in the memory and running on the processor, and the processor implements the computer program when executing the computer program. A step of the method according to any one of claims 1-7.
  9. 一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，其特征在于：所述计算机程序被处理器执行时实现如权利要求1～7中任一所述方法的步骤。A computer-readable storage medium storing a computer program, characterized in that: when the computer program is executed by a processor, the steps of the method according to any one of claims 1-7 are implemented.
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