A method, device, electronic device, and medium for slab position tracking

Abstract

The present invention discloses a slab position tracking method, device, electronic device, and medium. The method includes: during the slab operation, if the head of the slab is detected to enter the detection range of a first thermal detector, tracking the head of the slab at a first preset speed to obtain the head tracking position; if the tail of the slab is detected to enter the detection range of the first thermal detector, tracking the tail of the slab at a second preset speed to obtain the tail tracking position; when the head of the slab is detected to enter the detection range of an Nth thermal detector, determining whether the head tracking position is within a first preset fuzzy range, where N is an integer greater than 1; if so, correcting the head tracking position to a fixed position, where the fixed position is the position between the Nth thermal detector and the first thermal detector. This method can correct the slab tracking position, thereby improving the accuracy of slab position tracking.

Description

Technical Field

[0001] The present invention relates to the technical field of metallurgical process control, and in particular to a slab position tracking method, device, electronic equipment and medium. Background Art

[0002] The traditional hot slab tracking method mainly uses heat detection, roller speed, head and tail tracking, filtering, etc. as the main means of tracking. The specific hot slab tracking method is mainly as follows: after the head of the high-temperature slab is detected by heat detection, the head of the slab is tracked, and the head forward distance is calculated according to the roller speed setting or feedback value. After the tail leaves the heat detection, the tail position is tracked.

[0003] Two issues exist in actual production: first, slab slippage and jamming can cause head and tail tracking anomalies; second, high levels of moisture can cause excessive heat detection delays, leading to head and tail tracking anomalies. Therefore, traditional hot slab tracking methods urgently need to be replaced with new tracking methods to avoid slab rollback or scrapping during production, which can cause production line downtime. Summary of the Invention

[0004] The embodiments of the present application provide a slab position tracking method, device, electronic device and medium. The method can correct the slab tracking position in real time, thereby improving the accuracy of slab position tracking.

[0005] In a first aspect, the present invention provides the following technical solutions through an embodiment of the present invention:

[0006] A slab position tracking method includes: during the operation of the slab, if it is detected that the head of the slab enters the detection range of a first thermal detector, the head of the slab is tracked at a first preset speed to obtain a head tracking position; if it is detected that the tail of the slab enters the detection range of the first thermal detector, the tail of the slab is tracked at a second preset speed to obtain a tail tracking position; when it is detected that the head enters the detection range of the Nth thermal detector, it is judged whether the head tracking position is within a first preset fuzzy range, where N is an integer greater than 1; if so, the head tracking position is corrected to a fixed position, and the fixed position is the position between the Nth thermal detector and the first thermal detector.

[0007] Preferably, the first preset fuzzy range is determined based on the position between the Nth thermal detector and the first thermal detector and the fuzzy amount, and the range of the fuzzy amount is 1-2 meters.

[0008] Preferably, the method includes: if the head tracking position is not within the first preset fuzzy range, then correcting the head tracking position to the position between the N-1th thermal detector and the first thermal detector plus the product of the first preset speed and the preset time, wherein the preset time is the time the head of the slab runs after entering the detection range of the N-1th thermal detector.

[0009] Preferably, the method includes: when it is monitored that the head enters the detection range of the N+1th thermal detector, determining whether the head tracking position is within a second preset fuzzy range; if so, correcting the head tracking position to the position between the N+1th thermal detector and the first thermal detector.

[0010] Preferably, before monitoring the head entering the detection range of the Nth thermal detector, it also includes: if it is detected that the head tracking position is equal to the fixed position, the head tracking position is controlled to remain at the current position until the Nth thermal detector detects the head of the slab.

[0011] Preferably, after monitoring the head entering the detection range of the Nth thermal detector, it also includes: when monitoring the tail entering the detection range of the Nth thermal detector, judging whether the tail tracking position is within the first preset fuzzy range, where N is an integer greater than 1; if so, correcting the tail tracking position to the fixed position.

[0012] Preferably, before monitoring the tail entering the detection range of the Nth thermal detector, the method also includes: if it is detected that the tail tracking position is equal to the fixed position, controlling the tail tracking position to remain at the current position until the Nth thermal detector detects the tail of the slab.

[0013] In a second aspect, the present invention provides the following technical solution through an embodiment of the present invention:

[0014] A slab position tracking device, comprising:

[0015] A head tracking module is configured to track the head of the slab at a first preset speed to obtain a head tracking position if the head of the slab is detected to enter the detection range of the first thermal detector during the slab movement;

[0016] a tail tracking module, configured to track the tail of the slab at a second preset speed to obtain a tail tracking position if it is detected that the tail of the slab enters the detection range of the first thermal detector;

[0017] a first determining module, configured to determine whether the head tracking position is within a first preset fuzzy range when detecting that the head enters the detection range of an Nth thermal detector, wherein N is an integer greater than 1;

[0018] The first correction module is used to correct the head tracking position to a fixed position if yes, and the fixed position is the position between the Nth thermal detector and the first thermal detector.

[0019] In a third aspect, the present invention provides the following technical solution through an embodiment of the present invention:

[0020] An electronic device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method described in any one of the first aspects is implemented.

[0021] In a fourth aspect, the present invention provides the following technical solution through an embodiment of the present invention:

[0022] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the method described in any one of the first aspects above.

[0023] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0024] The slab position tracking method provided by an embodiment of the present invention is as follows: during the slab operation process, if the head of the slab is detected to enter the detection range of the first thermal detector, the head of the slab is tracked at a first preset speed to obtain the head tracking position. If the tail of the slab is detected to enter the detection range of the first thermal detector, the tail of the slab is tracked at a second preset speed to obtain the tail tracking position. When the head is detected to enter the detection range of the Nth thermal detector, it is determined whether the head tracking position is within the first preset fuzzy range. If so, the head tracking position is corrected to the position between the Nth thermal detector and the first thermal detector, thereby correcting the head tracking position and reducing the error of the head tracking position. This method can effectively avoid the slab retreat or scrapping caused by hot slab tracking during the production process, thereby causing production line failure. Therefore, this application addresses the problem of long false detection time of thermal detection caused by slab slippage and large amounts of water vapor that may occur during the production process. It proposes that when the head is detected to enter the detection range of the Nth thermal detector, a judgment is made as to whether the head tracking position is within the first preset fuzzy range, and then the head tracking position is corrected. This achieves the stability of hot slab tracking, improves the degree of automation, and reduces the production line failure time caused by slab retreat or scrapping due to hot slab tracking. At the same time, the implementation of this method provides a basic guarantee for production stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 A schematic diagram of the operation of a hot slab provided by an embodiment of the present invention;

[0027] Figure 2 A flow chart of a slab position tracking method provided by an embodiment of the present invention;

[0028] Figure 3 A head tracking flow chart of a slab position tracking method provided by an embodiment of the present invention;

[0029] Figure 4 A tail tracking flow chart of a slab position tracking method provided by an embodiment of the present invention;

[0030] Figure 5 A schematic structural diagram of a slab position tracking device provided by an embodiment of the present invention;

[0031] Figure 6 A schematic structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0032] The embodiments of the present application provide a slab position tracking method, device, electronic device and medium. The method can correct the slab tracking position in real time, thereby improving the accuracy of slab position tracking.

[0033] The overall idea of the technical solution of the embodiment of this application is as follows:

[0034] A slab position tracking method includes: during the operation of the slab, if it is detected that the head of the slab enters the detection range of a first thermal detector, the head of the slab is tracked at a first preset speed to obtain a head tracking position; if it is detected that the tail of the slab enters the detection range of the first thermal detector, the tail of the slab is tracked at a second preset speed to obtain a tail tracking position; when it is detected that the head enters the detection range of the Nth thermal detector, it is judged whether the head tracking position is within a first preset fuzzy range, where N is an integer greater than 1; if so, the head tracking position is corrected to a fixed position, and the fixed position is the position between the Nth thermal detector and the first thermal detector.

[0035] In order to better understand the above technical solution, the above technical solution will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0036] It should be noted that the first preset fuzzy range is determined based on the position between the Nth thermal detector and the first thermal detector, as well as the fuzziness, which can range from 1 to 2 meters. Setting the fuzzy range can prevent large deviations between the actual slab position and the calculated slab tracking position due to slippage, jamming, and other conditions. This fuzzy range can serve as a basis for determining whether to correct the head tracking position or the tail tracking position.

[0037] like Figure 1 As shown in FIG. 1 , a schematic diagram of the hot slab operation provided by the present application is shown. In the forward movement of the slab, the slab will sequentially pass through the first heat check, the second heat check, the Nth heat check, the N+1th heat check, etc. The first preset fuzzy range mentioned in the present application is Ln in the figure.

[0038] In a first aspect, an embodiment of the present invention provides a slab position tracking method, specifically, as follows: Figure 2 As shown, the method includes the following steps S101 to S104.

[0039] Step S101 : During the movement of the slab, if it is detected that the head of the slab enters the detection range of the first thermal detector, the head of the slab is tracked at a first preset speed to obtain a head tracking position.

[0040] During the hot slab processing, multiple thermal detectors are included on site to perform real-time detection of the slab's operation. In the specific implementation process, when the head of the hot slab is detected by the first thermal detector, this thermal detection is used as the starting point of the head tracking, and the head tracking position L head Calculation starts from 0 meters (L head =0), calculate the head tracking position L at the first preset speed head , wherein the first preset speed can be the roller speed V behind the current first thermal detector b , that is, L head =V b ×t, t is the time it takes for the slab head to reach the detection range of the first thermal detector.

[0041] Step S102 : If it is detected that the tail of the slab enters the detection range of the first thermal detector, the tail of the slab is tracked at a second preset speed to obtain a tail tracking position.

[0042] When the tail of the hot slab passes the first heat detector, the tail tracking position L tail Calculation starts from 0 meters (L tail=0), calculate the tail tracking position L at the second preset speed tail , wherein the second preset speed may be the roller speed V in front of the current first thermal detector f , that is, L tail =V f ×t, t is the time it takes for the tail of the slab to reach the detection range of the first thermal detector.

[0043] It should be noted that under normal circumstances, the roller speed V behind the first thermal detector is b The roller speed V in front of the first heat detector f same.

[0044] Step S103, when it is detected that the head enters the detection range of the Nth thermal detector, determining whether the head tracking position is within a first preset fuzzy range, where N is an integer greater than 1;

[0045] Step S104: If yes, the head tracking position is corrected to a fixed position, where the fixed position is the position between the Nth thermal detector and the first thermal detector.

[0046] As the hot slab moves forward, when the head of the hot slab is detected by the Nth thermal detector, that is, when the rising edge signal of the head of the hot slab is detected by the Nth thermal detector, it is determined whether the head tracking position is within the first preset fuzzy range L x Within, wherein the first preset fuzzy range L x The position L between the Nth thermal detector and the first thermal detector is determined based on the position between the Nth thermal detector and the first thermal detector and the fuzzy amount X. n It is a fixed value. The blur amount X can be designed according to the actual situation. For example, the blur amount X can be 1-2 meters.

[0047] In addition, N is an integer greater than 1, for example, it can be 4, 5, etc. The Nth thermal detector needs to set a fuzzy range L x (L n -X <L x <L n +X), if the head tracking position L is determined head Within the first preset fuzzy range, the head tracking position is corrected to the position Ln between the Nth thermal detector and the first thermal detector, thereby correcting the head tracking position, reducing the error of the head tracking position, and improving the accuracy of the head tracking position of the hot slab.

[0048] If it is determined that the head tracking position is not within the first preset fuzzy range L xIf the head tracking position is within the range of N-1, the head tracking position is corrected to be the position between the N-1th thermal detector and the first thermal detector plus the first preset speed V b The product of the preset time t1, that is, L head＝ L n-1 +V b ×t1, wherein the preset time t1 is the time taken after the head of the slab enters the detection range of the N-1th thermal detector.

[0049] Similarly, as the hot slab advances, when the tail of the hot slab is detected by the Nth thermal detector, that is, when the falling edge signal of the tail of the hot slab is detected by the Nth thermal detector, it is determined whether the tail tracking position is within the first preset fuzzy range L x If the tail tracking position L is determined tail In the first preset fuzzy range L x If the tail tracking position is within the range of N, the position L between the Nth thermal detector and the first thermal detector is corrected. n , realize the correction of the tail tracking position, reduce the error of the tail tracking position, and improve the accuracy of the tail tracking position of the hot slab.

[0050] If it is determined that the tail tracking position is not within the first preset fuzzy range L x If the tail tracking position is within the range of N-1, the corrected tail tracking position is the position between the N-1th thermal detector and the first thermal detector plus the first preset speed V b The product of the preset time t1, that is, L tail＝ L n-1 +V b × t1, wherein the preset time t1 is the time taken after the tail of the slab enters the detection range of the N-1th thermal detector.

[0051] If the hot slab's head or tail tracking position is greater or less than the actual hot slab's position due to slippage, blocking, etc., and the head or tail tracking position is within this fuzzy range L x In addition, it indicates that the error between the hot slab tracking calculation position and the actual hot slab position is large, and the head tracking position or tail tracking position of the hot slab will not be corrected for any thermal detection fuzzy range, that is, L head >L N +X, L head <L N -X or L tail >L N +X, L tail <L NWhen -X is selected, the head tracking position and tail tracking position are not corrected and remain calculated values to prevent possible false signals from affecting the hot slab position calculation. The actual hot slab position can be determined based on the thermal detector.

[0052] For example, when the slab runs between the Nth thermal detector and the N+1th thermal detector, there will be a certain position between the head of the slab and the N+1th thermal detector. If the position is not within the fuzzy amount (for example: 1-2 meters), the head tracking position will not be corrected. If the position is within the fuzzy amount, the head tracking position will be corrected.

[0053] Furthermore, before the head is detected to enter the detection range of the Nth thermal detector, it also includes: if the head tracking position is detected to be equal to the fixed position, the head tracking position is controlled to remain at the current position until the Nth thermal detector detects the head of the slab.

[0054] Specifically, when the head tracking position of the hot slab reaches the physical position L of the Nth thermal detector n When the hot slab is slipping, the head tracking position has reached the position L of the Nth heat detector. n However, the actual head of the hot slab has not been detected by the Nth thermal detector. In order to prevent the slippage time from being too long and causing the head tracking position of the hot slab to be much larger than the actual position of the slab, the head tracking position is controlled to remain at the current position L n , so that the head tracking position is suppressed, avoiding tracking abnormalities, until the Nth thermal detector detects the rising edge signal of the slab head.

[0055] Furthermore, to ensure detection accuracy, the head tracking position suppression control may be discontinued until the roller speed is detected to be rotating forward and the Nth thermal detector detects a rising edge signal at the head of the slab. It should be noted that the method for detecting roller speed herein may be to select a speed feedback value, which is the actual roller operating speed as fed back by the transmission system, and can more accurately reflect the actual roller operating conditions. This prevents the loss of the thermal detector detection signal during deceleration when the set speed reaches zero, thereby preventing the anti-slip suppression tracking correction from being canceled. After the hot slab passes the Nth thermal detector, the head tracking position of the hot slab continues to be accumulated and calculated at a first preset speed. The speed setting value is a fixed speed set by the primary system. Similarly, until the tail of the hot slab is detected to enter the detection range of the Nth thermal detector, the method further includes: if the tail tracking position is detected to be equal to the fixed position, controlling the tail tracking position to remain at the current position, i.e., performing the anti-slip suppression correction, until the Nth thermal detector detects the tail of the slab.

[0056] Specifically, when the tail tracking position of the hot slab reaches the physical position L of the Nth heat detection n When the hot slab is slipping, etc., the tail tracking position has reached the position L of the Nth heat detector. n , but the tail of the hot slab has not been detected by the Nth thermal detector. In order to prevent the tail tracking position of the hot slab from being much larger than the actual position of the slab due to excessive slippage, the tail tracking position is controlled to remain at the current position L n , so that the tail tracking position is suppressed until the Nth thermal detector detects a rising edge signal at the head of the slab. Furthermore, to ensure detection accuracy, the head tracking position suppression control may be discontinued until the roller speed is detected to be rotating forward and the Nth thermal detector detects a rising edge signal at the head of the slab. After the hot slab passes the Nth thermal detector, the tail tracking position of the hot slab continues to be accumulated and calculated at the second preset speed.

[0057] Furthermore, after the hot slab passes through the Nth thermal detector, when the head of the hot slab is detected to enter the detection range of the N+1th thermal detector, it is determined whether the head tracking position is within the second preset fuzzy range; if so, the head tracking position is corrected to the position between the N+1th thermal detector and the first thermal detector. Similarly, when the tail of the hot slab is detected to enter the detection range of the N+1th thermal detector, it is determined whether the tail tracking position is within the second preset fuzzy range; if so, the tail tracking position is corrected to the position between the N+1th thermal detector and the first thermal detector.

[0058] It should be noted that the second preset fuzziness range is determined based on the position between the (N+1)th thermal detector and the first thermal detector, as well as the fuzziness amount. The fuzziness amount can range from 1 to 2 meters. Furthermore, different thermal detectors can correspond to the same or different fuzziness amounts. The fuzziness amount can be set based on the amount of water vapor, which can be monitored by on-site instruments.

[0059] Specifically, in order to achieve continuous correction of the head tracking position and the tail tracking position of the hot slab, thereby improving the stability of hot slab tracking, the above steps of correcting the head tracking position and the tail tracking position will be repeated every time the hot slab passes a thermal detector.

[0060] like Figure 3 、 Figure 4As shown, it is the head tracking flowchart and the tail tracking flowchart of the slab position tracking method provided by this application. When the head or tail of the hot slab is detected by the first thermal detection, the head tracking position or the tail tracking position is calculated. At this time, two situations may occur. The first is: the Nth thermal detection detects the head rising edge signal or the tail falling edge signal; the second is: the head tracking position or the tail tracking position of the hot slab is equal to the fixed position.

[0061] In the first case, it is directly determined whether the head tracking position or the tail tracking position is within the first preset fuzzy range. If so, the head tracking position or the tail tracking position is corrected to be equal to the fixed position. If not, taking the head tracking position as an example, the head tracking position is corrected to be the position between the N-1th thermal detector and the first thermal detector plus the first preset speed V. b The product of the preset time t1, that is, L head＝ L n-1 +V b ×t1, when the slab reaches the N+1th heat inspection, continue to perform the same correction steps as above.

[0062] In the second case, it is first determined whether a rising edge signal of the head or a falling edge signal of the tail is detected. If so, it is determined whether the head tracking position or the tail tracking position is within the first preset fuzzy range. If not, the head tracking position or the tail tracking position is suppressed and continues to be at the current position, that is, equal to the fixed position, until a rising edge signal of the head or a falling edge signal of the tail is detected. If it is determined that the head tracking position or the tail tracking position is within the first preset fuzzy range, the head tracking position is corrected to be equal to the fixed position. If not, taking the head tracking position as an example, the head tracking position is corrected to be the position between the N-1th thermal detector and the first thermal detector plus the first preset speed V b The product of the preset time t1, that is, L head＝ L n-1 +V b ×t1, when the slab reaches the N+1th heat inspection, continue to perform the same correction steps as above.

[0063] To sum up, a hot slab position tracking method provided by an embodiment of the present invention analyzes various uncontrollable factors such as slab slippage, jamming, water vapor, etc. on site, and performs anti-slip suppression correction and thermal detection fuzzy range correction on the head and tail tracking of the hot slab, thereby effectively avoiding the slab retreat or scrapping caused by hot slab tracking during the production process, and preventing production line failure time.

[0064] In the second aspect, based on the same inventive concept, this embodiment provides a slab position tracking device, such as Figure 5 As shown, including:

[0065] The head tracking module 401 is used to track the head of the slab at a first preset speed to obtain a head tracking position if the head of the slab is detected to enter the detection range of the first thermal detector during the slab movement;

[0066] The tail tracking module 402 is configured to track the tail of the slab at a second preset speed to obtain a tail tracking position if the tail of the slab is detected to enter the detection range of the first thermal detector;

[0067] A first determination module 403 is configured to determine whether the head tracking position is within a first preset fuzzy range when the head is detected to enter the detection range of the Nth thermal detector, where N is an integer greater than 1;

[0068] The first correction module 404 is configured to correct the head tracking position to a fixed position if yes, where the fixed position is the position between the Nth thermal detector and the first thermal detector.

[0069] As an optional embodiment, the first preset fuzzy range is determined based on the position between the Nth thermal detector and the first thermal detector and the fuzzy amount, and the fuzzy amount range is 1-2 meters.

[0070] As an optional embodiment, the device also includes: a second correction module, which is used to correct the head tracking position to the position between the N-1th thermal detector and the first thermal detector plus the product of the first preset speed and the preset time if the head tracking position is not within the first preset fuzzy range, wherein the preset time is the time the head of the slab runs after entering the detection range of the N-1th thermal detector.

[0071] As an optional embodiment, the device further includes:

[0072] The second judgment module is used to judge whether the head tracking position is within a second preset fuzzy range when the head is detected to enter the detection range of the N+1th thermal detector;

[0073] The third correction module is used to correct the head tracking position to the position between the N+1th thermal detector and the first thermal detector if yes.

[0074] As an optional embodiment, the device further includes:

[0075] The first control module is configured to control the head tracking position to remain at the current position if it is detected that the head tracking position is equal to the fixed position, until the Nth thermal detector detects the head of the slab.

[0076] As an optional embodiment, the device further includes:

[0077] a third judgment module, configured to judge whether the tail tracking position is within a first preset fuzzy range when the tail is detected to enter the detection range of the Nth thermal detector, wherein N is an integer greater than 1;

[0078] The fourth correction module is configured to correct the tail tracking position to a fixed position if yes.

[0079] As an optional embodiment, the device further includes:

[0080] The second control module is used to control the tail tracking position to remain at the current position if it is detected that the tail tracking position is equal to the fixed position until the Nth thermal detector detects the tail of the slab.

[0081] The above modules can be implemented by software codes, in which case the above modules can be stored in the memory of the control device. The above modules can also be implemented by hardware such as integrated circuit chips.

[0082] The embodiment of the present invention provides a slab position tracking device, whose implementation principle and technical effects are the same as those of the aforementioned method embodiment. For the sake of brief description, for matters not mentioned in the device embodiment, reference can be made to the corresponding content in the aforementioned method embodiment.

[0083] In a third aspect, based on the same inventive concept, this embodiment provides an electronic device 500, such as Figure 6 As shown, it includes: a memory 501, a processor 502 and a computer program 503 stored in the memory and capable of running on the processor. When the processor 501 executes the program, the steps of the slab position tracking method described in the first aspect are implemented.

[0084] Since the electronic device described in this embodiment is the electronic device used to implement the slab position tracking method in the embodiment of this application, based on the slab position tracking method described in the embodiment of this application, those skilled in the art will be able to understand the specific implementation of the electronic device of this embodiment and its various variations, so how the electronic device implements the method in the embodiment of this application will not be described in detail here. As long as those skilled in the art can implement the electronic device used in the slab position tracking method in the embodiment of this application, it falls within the scope of protection to be provided by this application.

[0085] In the fourth aspect, based on the same inventive concept, this embodiment provides a non-temporary computer-readable storage medium. When the instructions in the storage medium are executed by the processor of the electronic device 500, the electronic device 500 is able to execute a slab position tracking method, including the steps of any one of the methods described in the first aspect above.

[0086] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0087] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A module that specifies functions in one or more boxes.

[0088] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction module, which is implemented in the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0089] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0090] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0091] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A slab position tracking method, characterized in that: include: During the movement of the slab, if it is detected that the head of the slab enters the detection range of the first thermal detector, the head of the slab is tracked at a first preset speed to obtain a head tracking position; If it is detected that the tail of the slab enters the detection range of the first thermal detector, the tail of the slab is tracked at a second preset speed to obtain a tail tracking position; When it is detected that the head enters the detection range of the Nth thermal detector, determining whether the head tracking position is within a first preset fuzzy range, where N is an integer greater than 1; If so, correct the head tracking position to a fixed position, where the fixed position is a position between the Nth thermal detector and the first thermal detector; Before the head is detected to enter the detection range of the Nth thermal detector, the method further includes: if it is detected that the head tracking position is equal to the fixed position, controlling the head tracking position to remain at the current position until the Nth thermal detector detects the head of the slab; If the head tracking position is not within the first preset fuzzy range, the head tracking position is corrected to the position between the N-1th thermal detector and the first thermal detector plus the product of the first preset speed and the preset time, wherein the preset time is the time the head of the slab runs after entering the detection range of the N-1th thermal detector.

2. A slab position tracking method according to claim 1, characterized in that: The first preset fuzzy range is determined based on the position between the Nth thermal detector and the first thermal detector and the fuzzy amount, and the range of the fuzzy amount is 1-2 meters.

3. A slab position tracking method according to claim 1, characterized in that: include: When it is detected that the head enters the detection range of the N+1th thermal detector, determining whether the head tracking position is within a second preset fuzzy range; If so, the head tracking position is corrected to the position between the N+1th thermal detector and the first thermal detector.

4. A slab position tracking method according to claim 1, characterized in that: After detecting that the head enters the detection range of the Nth thermal detector, the method further includes: When it is detected that the tail enters the detection range of the Nth thermal detector, determining whether the tail tracking position is within the first preset fuzzy range, where N is an integer greater than 1; If so, the tail tracking position is corrected to the fixed position.

5. A slab position tracking method according to claim 4, characterized in that: Before detecting that the tail portion enters a detection range of the Nth thermal detector, the method further includes: If it is detected that the tail tracking position is equal to the fixed position, the tail tracking position is controlled to remain at the current position until the Nth thermal detector detects the tail of the slab.

6. A device for implementing the method according to any one of claims 1 to 5, characterized in that: include: A head tracking module is configured to track the head of the slab at a first preset speed to obtain a head tracking position if the head of the slab is detected to enter the detection range of the first thermal detector during the slab movement; a tail tracking module, configured to track the tail of the slab at a second preset speed to obtain a tail tracking position if it is detected that the tail of the slab enters the detection range of the first thermal detector; a first determining module, configured to determine whether the head tracking position is within a first preset fuzzy range when detecting that the head enters the detection range of an Nth thermal detector, wherein N is an integer greater than 1; a first correction module, configured to correct the head tracking position to a fixed position if yes, the fixed position being a position between the Nth thermal detector and the first thermal detector; a first control module configured to control the head tracking position to remain at a current position if it is detected that the head tracking position is equal to the fixed position until the Nth thermal detector detects the head of the slab; The second correction module is used to correct the head tracking position to the position between the N-1th thermal detector and the first thermal detector plus the product of the first preset speed and the preset time if the head tracking position is not within the first preset fuzzy range, wherein the preset time is the time the head of the slab runs after entering the detection range of the N-1th thermal detector.

7. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the steps of the method according to any one of claims 1 to 5 are implemented when the processor executes the program.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

Images