Method and system for calculating the distance of steel plate shift before and after abnormal automatic steel transfer

Abstract

This invention discloses a method and system for calculating the forward and backward displacement distance of a steel plate in case of automatic steel transfer anomalies. The method includes: identifying the angle between the steel plate and the side guide plate edge, and the head and tail positions of the steel plate; during automatic steel transfer, controlling the speeds of two sets of staggered conical roller conveyors to be equal and opposite in direction, with counterclockwise rotation at the mill inlet side and clockwise rotation at the mill outlet side; real-time identification of whether a steel transfer anomaly occurs, and if an anomaly occurs, canceling the speed setting of the steel transfer roller conveyor; wherein, the steel transfer anomaly refers to the angle between the steel plate and the side guide plate edge remaining unchanged for a preset time and / or the head and tail positions of the steel plate exceeding the safe range for steel transfer; determining the distance and direction of steel plate displacement based on the head and tail positions of the steel plate and the roller spacing of the conical roller conveyor. The technical solution of this invention can improve the success rate of automatic steel transfer and reduce manual intervention.

Description

Technical Field

[0001] This invention relates to the field of industrial automation technology, and in particular to a method and system for calculating the forward and backward displacement distance of a steel plate when an automatic steel transfer malfunctions. Background Technology

[0002] Steel rotation is an important means for medium and wide plate mills to control product width. Traditionally, steel rotation is manually performed by operators monitoring industrial television or directly observing the site. Due to wear on the steel rotation rollers, poor plate shape, or excessively short plate length, situations often arise where a steel rotation command is given, but the plate does not rotate or moves out of the safe rotation range. Operators then need to manually adjust the rotation position before continuing. The time required to complete the steel rotation is highly related to the operator's operating habits and skill level, which not only affects the stability of the rolling rhythm but also puts operators under high stress and high labor intensity. Summary of the Invention

[0003] This invention provides a method and system for calculating the forward and backward displacement distance of steel plates when automatic steel transfer malfunctions, in order to solve the technical problems of existing steel transfer technology, which not only affect the stability of the rolling rhythm but also cause high mental stress and high labor intensity for operators.

[0004] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0005] On one hand, the present invention provides a method for calculating the forward and backward displacement distance of a steel plate when an automatic steel transfer malfunctions. The method for calculating the forward and backward displacement distance of a steel plate when an automatic steel transfer malfunctions includes:

[0006] Identify the included angle between the steel plate and the edge of the side guide plate, as well as the head and tail positions of the steel plate;

[0007] During automatic steel transfer, the speeds of the two sets of staggered conical roller conveyors are equal and opposite. The steel transfer is counterclockwise on the mill inlet side and clockwise on the mill outlet side.

[0008] The system identifies in real time whether a steel transfer abnormality occurs. If a steel transfer abnormality occurs, the speed setting of the steel transfer roller is cancelled. The steel transfer abnormality refers to the angle between the steel plate and the side guide plate edge remaining unchanged for a preset time and / or the head and tail positions of the steel plate exceeding the safe range of steel transfer. The safe range of steel transfer refers to the fact that all parts of the steel plate are located within the steel transfer roller area and the distance from the boundary is greater than a preset distance threshold.

[0009] The distance and direction in which the steel plate needs to be moved are determined based on the head and tail positions of the steel plate and the roller spacing of the tapered roller conveyor.

[0010] Furthermore, after determining the distance and direction in which the steel plate needs to be moved, the method further includes:

[0011] The two sets of staggered conical roller conveyors are controlled to move in the same direction and at the same speed, and continue to transfer steel after moving to the target position.

[0012] Furthermore, the preset duration ranges from 1.0 seconds to 2.5 seconds.

[0013] Furthermore, the preset distance threshold ranges from 1.0 meter to 1.5 meters.

[0014] Furthermore, determining the distance and direction the steel plate needs to be moved based on the head and tail positions of the steel plate and the roller spacing of the tapered roller conveyor includes:

[0015] Define L1 as the distance from the end of the steel plate away from the mill side to the end of the tapered roller table on that side, L2 as the distance from the end of the steel plate close to the mill side to the end of the tapered roller table on that side, and L3 as the distance between the tapered rollers;

[0016] Calculate (L1-L2) / 2L3, round the result to one decimal place, and obtain the integer part X and the decimal part Y of the result. The method to determine the distance and direction to be moved is as follows:

[0017] When X is negative, it moves closer to the mill side; when X is non-negative, it moves further away from the mill side.

[0018] When Y < 4, the displacement distance is

[0019] When 4≤Y≤6, the displacement distance is |L1-L2| / 2+L3;

[0020] When Y > 6, the displacement distance is

[0021] in, This indicates rounding down. This indicates rounding up, with k ranging from 0.5 to 0.7 or from 1.5 to 1.7.

[0022] On the other hand, the present invention also provides a calculation system for the forward and backward displacement distance of a steel plate when an automatic steel transfer malfunctions. The calculation system for the forward and backward displacement distance of a steel plate when an automatic steel transfer malfunctions includes:

[0023] The machine vision module is used to identify the angle between the steel plate and the side guide plate, as well as the head and tail positions of the steel plate.

[0024] The control and data processing module is used to perform the following steps:

[0025] During automatic steel transfer, the speeds of the two sets of staggered conical roller conveyors are equal and opposite. The steel transfer is counterclockwise on the mill inlet side and clockwise on the mill outlet side.

[0026] The system identifies in real time whether a steel transfer abnormality occurs. If a steel transfer abnormality occurs, the speed setting of the steel transfer roller is cancelled. The steel transfer abnormality refers to the angle between the steel plate and the side guide plate edge remaining unchanged for a preset time and / or the head and tail positions of the steel plate exceeding the safe range of steel transfer. The safe range of steel transfer refers to the fact that all parts of the steel plate are located within the steel transfer roller area and the distance from the boundary is greater than a preset distance threshold.

[0027] The distance and direction in which the steel plate needs to be moved are determined based on the head and tail positions of the steel plate and the roller spacing of the tapered roller conveyor.

[0028] Furthermore, after determining the distance and direction the steel plate needs to be moved, the control and data processing module is also used for:

[0029] The two sets of staggered conical roller conveyors are controlled to move in the same direction and at the same speed, and continue to transfer steel after moving to the target position.

[0030] Furthermore, the preset duration ranges from 1.0 seconds to 2.5 seconds.

[0031] Furthermore, the preset distance threshold ranges from 1.0 meter to 1.5 meters.

[0032] Furthermore, the control and data processing module is specifically used for:

[0033] Define L1 as the distance from the end of the steel plate away from the mill side to the end of the tapered roller table on that side, L2 as the distance from the end of the steel plate close to the mill side to the end of the tapered roller table on that side, and L3 as the distance between the tapered rollers;

[0034] Calculate (L1-L2) / 2L3, round the result to one decimal place, and obtain the integer part X and the decimal part Y of the result. The method to determine the distance and direction to be moved is as follows:

[0035] When X is negative, it moves closer to the mill side; when X is non-negative, it moves further away from the mill side.

[0036] When Y < 4, the displacement distance is

[0037] When 4≤Y≤6, the displacement distance is |L1-L2| / 2+L3;

[0038] When Y > 6, the displacement distance is

[0039] in, This indicates rounding down. This indicates rounding up, with k ranging from 0.5 to 0.7 or from 1.5 to 1.7.

[0040] In another aspect, the present invention also provides an electronic device comprising a processor and a memory; wherein the memory stores at least one instruction, which is loaded and executed by the processor to implement the above-described method.

[0041] In another aspect, the present invention also provides a computer-readable storage medium storing at least one instruction that is loaded and executed by a processor to implement the above-described method.

[0042] The beneficial effects of the technical solution provided by this invention include at least the following:

[0043] The automatic steel-turning abnormality calculation scheme provided by this invention uses machine vision to identify the rotation angle and position of the steel plate. When the steel-turning is abnormal, it automatically calculates the distance that needs to be moved to the vicinity of the center area of ​​the steel-turning roller conveyor and different from the previous steel-turning position. It changes the contact part between the bottom of the steel plate and the staggered conical roller conveyor, thereby improving the success rate of automatic steel-turning and reducing manual intervention. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 This is a schematic diagram of the execution flow of the method for calculating the forward and backward displacement distance of the steel plate when the automatic steel transfer is abnormal, provided in an embodiment of the present invention.

[0046] Figure 2 This is a schematic diagram of the steel transfer parameters provided in an embodiment of the present invention. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0048] First Embodiment

[0049] This embodiment provides a method for calculating the forward and backward movement distance of a steel plate when an automatic steel transfer malfunctions. This method can be implemented by electronic equipment. The method sets up a machine vision system to identify the rotation angle and head and tail positions of the steel plate. When two sets of staggered conical roller conveyors have equal and opposite speed outputs, but the angle between the steel plate and the side guide plate remains unchanged, or when the head and tail of the steel plate exceed the safe range for steel transfer, it is determined that the steel plate needs to be moved. First, the speed setting is canceled. Then, the forward or backward distance of the steel plate is calculated based on the roller spacing of the steel transfer roller conveyor and the distance from the end of the steel plate to the edge of the steel transfer roller conveyor. This changes the contact point between the bottom of the steel plate and the conical roller conveyor, improving the success rate of automatic steel transfer and reducing manual intervention.

[0050] Specifically, the execution flow of this method is as follows: Figure 1 As shown, it includes the following steps:

[0051] S1, identify the included angle between the steel plate and the side guide plate edge, as well as the head and tail positions of the steel plate;

[0052] S2, during automatic steel transfer, the speeds of the two sets of staggered conical roller conveyors are equal and opposite, with counterclockwise steel transfer on the mill inlet side and clockwise steel transfer on the mill outlet side;

[0053] S3, Real-time identification of whether steel transfer abnormality occurs. If steel transfer abnormality occurs, the speed setting of the steel transfer roller is cancelled. The steel transfer abnormality refers to the angle between the steel plate and the side guide plate edge remaining unchanged for a preset time and / or the head and tail positions of the steel plate exceeding the steel transfer safety range. The steel transfer safety range refers to all parts of the steel plate being located within the steel transfer roller area and the distance from the boundary being greater than a preset distance threshold.

[0054] The preset duration N is determined based on actual conditions, and its value ranges from 1.0 second to 2.5 seconds. The preset distance threshold L0 is determined based on actual conditions, and its value ranges from 1.0 meter to 1.5 meter.

[0055] S4. Determine the distance and direction the steel plate needs to be moved based on the head and tail positions of the steel plate and the roller spacing of the tapered roller conveyor. Specifically, in this embodiment, the method for determining the distance and direction the steel plate needs to be moved is as follows:

[0056] like Figure 2 As shown, the distance from the end of the steel plate away from the mill side to the end of the tapered roller table on that side is defined as L1, the distance from the end of the steel plate near the mill side to the end of the tapered roller table on that side is defined as L2, and the roller spacing of the tapered rollers is defined as L3.

[0057] Calculate (L1-L2) / 2L3, and keep the result to one decimal place, that is, round[(L1-L2) / 2L3,1]=XY, that is, the integer part of the result is X, and the decimal part of the result is Y;

[0058] Based on the above, the method for determining the distance and direction of the relocation is as follows:

[0059] a: When X is negative, move towards the side closer to the rolling mill; when X is non-negative, move away from the side farther from the rolling mill.

[0060] b: When Y < 4, the displacement distance is

[0061] c: When 4≤Y≤6, the displacement distance is |L1-L2| / 2+L3;

[0062] d: When Y > 6, the displacement distance is

[0063] in, This indicates rounding down. This indicates rounding up, with k ranging from 0.5 to 0.7 or from 1.5 to 1.7.

[0064] like Figure 2 As shown, assuming L1 = 3 meters, L2 = 1.6 meters, L3 = 1 meter, and k = 0.6, the result of (L1-L2) / 2L3, rounded to one decimal place, is round[(L1-L2) / 2L3, 1] = 0.7. Therefore, the distance and direction to be moved are:

[0065] Since X = 0, which is a non-negative value, it is moved away from the mill side; since Y = 7, which is in the range of Y > 6, the moving distance is... Right now rice.

[0066] S5 controls the two sets of staggered conical roller conveyors to move in the same direction and at the same speed, and continue to transfer steel after moving to the target position.

[0067] In summary, this embodiment provides a method for calculating the forward and backward movement distance of a steel plate when an automatic steel transfer malfunctions. By using this method, the rotation angle and position of the steel plate are identified through machine vision. When an automatic steel transfer malfunctions, the method automatically calculates the distance required to move the steel plate to the vicinity of the center area of ​​the steel transfer roller conveyor, which is different from the previous steel transfer position. By changing the contact point between the bottom of the steel plate and the staggered conical roller conveyor, the success rate of automatic steel transfer can be improved and manual intervention can be reduced.

[0068] Second Embodiment

[0069] This embodiment provides a system for calculating the forward and backward displacement distance of a steel plate when an automatic steel transfer malfunctions. This system includes the following modules:

[0070] The machine vision module is used to identify the angle between the steel plate and the side guide plate, as well as the head and tail positions of the steel plate.

[0071] The control and data processing module is used to perform the following steps:

[0072] During automatic steel transfer, the speeds of the two sets of staggered conical roller conveyors are equal and opposite. The steel transfer is counterclockwise on the mill inlet side and clockwise on the mill outlet side.

[0073] The system identifies in real time whether a steel transfer abnormality occurs. If a steel transfer abnormality occurs, the speed setting of the steel transfer roller is cancelled. The steel transfer abnormality refers to the angle between the steel plate and the side guide plate edge remaining unchanged for a preset time and / or the head and tail positions of the steel plate exceeding the safe range of steel transfer. The safe range of steel transfer refers to the fact that all parts of the steel plate are located within the steel transfer roller area and the distance from the boundary is greater than a preset distance threshold.

[0074] The distance and direction in which the steel plate needs to be moved are determined based on the head and tail positions of the steel plate and the roller spacing of the tapered roller conveyor.

[0075] Furthermore, after determining the distance and direction the steel plate needs to be moved, the control and data processing module is also used for:

[0076] The two sets of staggered conical roller conveyors are controlled to move in the same direction and at the same speed, and continue to transfer steel after moving to the target position.

[0077] The system for calculating the forward and backward movement distance of the steel plate in the event of an automatic steel transfer malfunction in this embodiment corresponds to the method for calculating the forward and backward movement distance of the steel plate in the event of an automatic steel transfer malfunction in the first embodiment described above. The functions implemented by each module in the system for calculating the forward and backward movement distance of the steel plate in the event of an automatic steel transfer malfunction in this embodiment correspond one-to-one with the process steps in the method for calculating the forward and backward movement distance of the steel plate in the event of an automatic steel transfer malfunction in the first embodiment described above; therefore, they will not be repeated here.

[0078] Third Embodiment

[0079] This embodiment provides an electronic device, which includes a processor and a memory; wherein the memory stores at least one instruction, which is loaded and executed by the processor to implement the method of the first embodiment.

[0080] The electronic device can vary considerably depending on its configuration or performance, and may include one or more processors (central processing units, CPUs) and one or more memories, wherein the memories store at least one instruction that is loaded by the processor and executed in accordance with the above method.

[0081] Fourth embodiment

[0082] This embodiment provides a computer-readable storage medium storing at least one instruction, which is loaded and executed by a processor to implement the method of the first embodiment described above. The computer-readable storage medium may be a ROM, random access memory, CD-ROM, magnetic tape, floppy disk, or optical data storage device, etc. The instruction stored therein can be loaded and executed by a processor in a terminal.

[0083] Furthermore, it should be noted that the present invention can be provided as a method, apparatus, or computer program product. Therefore, embodiments of the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, embodiments of the present invention can take the form of a computer program product implemented on one or more computer-usable storage media containing computer-usable program code.

[0084] Embodiments of the present invention are described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations 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, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0085] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The functions specified in one or more boxes. These computer program instructions may also be loaded onto a computer or other programmable data processing terminal equipment to cause a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0086] It should also be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0087] Finally, it should be noted that the above description represents a preferred embodiment of the present invention. It should be pointed out that although preferred embodiments have been described, those skilled in the art, once they understand the basic inventive concept of the present invention, can make various improvements and modifications without departing from the principles described herein. These improvements and modifications should also be considered within the scope of protection of the present invention. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the embodiments of the present invention.

Claims

1. A method for calculating the forward and backward displacement distance of a steel plate when an automatic steel transfer malfunctions, characterized in that, include: Identify the included angle between the steel plate and the edge of the side guide plate, as well as the head and tail positions of the steel plate; During automatic steel transfer, the speeds of the two sets of staggered conical roller conveyors are equal and opposite. The steel transfer is counterclockwise on the mill inlet side and clockwise on the mill outlet side. The system identifies in real time whether a steel transfer abnormality occurs. If a steel transfer abnormality occurs, the speed setting of the steel transfer roller is cancelled. The steel transfer abnormality refers to the angle between the steel plate and the side guide plate edge remaining unchanged for a preset time and / or the head and tail positions of the steel plate exceeding the safe range of steel transfer. The safe range of steel transfer refers to the fact that all parts of the steel plate are located within the steel transfer roller area and the distance from the boundary is greater than a preset distance threshold. The distance and direction in which the steel plate needs to be moved are determined based on the head and tail positions of the steel plate and the roller spacing of the tapered roller conveyor. The process of determining the distance and direction to be moved of the steel plate based on the head and tail positions of the steel plate and the roller spacing of the tapered roller conveyor includes: The distance from the end of the steel plate furthest from the rolling mill side to the end of the tapered roller table on that side is defined as... The distance between the end of the steel plate near the rolling mill and the end of the tapered roller conveyor on that side is The roller spacing of the tapered roller is ; Calculate L 1- L 2) / 2 L 3, the calculation result is kept 1 decimal place, the integer part X of the calculation result and the decimal part Y of the calculation result are obtained, and the distance and direction determination method that needs to be moved is: When X is negative, it moves closer to the mill side; when X is non-negative, it moves further away from the mill side. When Y < 4, the shift distance is ⌊ L 1- L 2| / 2⌋+ kL 3; When 4≤Y≤6, the displacement distance is L 1- L 2| / 2+ L 3; When Y > 6, the shift distance is ⌈ L 1- L 2| / 2⌉+ kL 3; Where ⌊ ⌋ represents rounding down, and ⌈ ⌉ represents rounding up. k The value range is 0.5~0.7 or 1.5~1.

7.

2. The method for calculating the forward and backward displacement distance of the steel plate when the automatic steel transfer malfunctions as described in claim 1, characterized in that, After determining the distance and direction in which the steel plate needs to be moved, the method further includes: The two sets of staggered conical roller conveyors are controlled to move in the same direction and at the same speed, and continue to transfer steel after moving to the target position.

3. The method of claim 1, wherein the method is characterized by: The preset duration ranges from 1.0 seconds to 2.5 seconds.

4. The method of claim 1, wherein the method is characterized by: The preset distance threshold ranges from 1.0 meter to 1.5 meters.

5. A calculation system for the forward and backward displacement distance of a steel plate in case of an automatic steel transfer anomaly, characterized in that, include: The machine vision module is used to identify the angle between the steel plate and the side guide plate, as well as the head and tail positions of the steel plate. The control and data processing module is used to perform the following steps: During automatic steel transfer, the speeds of the two sets of staggered conical roller conveyors are equal and opposite. The steel transfer is counterclockwise on the mill inlet side and clockwise on the mill outlet side. The system identifies in real time whether a steel transfer abnormality occurs. If a steel transfer abnormality occurs, the speed setting of the steel transfer roller is cancelled. The steel transfer abnormality refers to the angle between the steel plate and the side guide plate edge remaining unchanged for a preset time and / or the head and tail positions of the steel plate exceeding the safe range of steel transfer. The safe range of steel transfer refers to the fact that all parts of the steel plate are located within the steel transfer roller area and the distance from the boundary is greater than a preset distance threshold. The distance and direction in which the steel plate needs to be moved are determined based on the head and tail positions of the steel plate and the roller spacing of the tapered roller conveyor. The control and data processing module is specifically used for: The distance from the end of the steel plate furthest from the rolling mill side to the end of the tapered roller table on that side is defined as... The distance between the end of the steel plate near the rolling mill and the end of the tapered roller conveyor on that side is The roller spacing of the tapered roller is ; calculate( L 1- L 2) / 2 L 3. Round the calculation result to one decimal place, obtaining the integer part X and the decimal part Y of the result. The method for determining the distance and direction to be moved is as follows: When X is negative, it moves closer to the mill side; when X is non-negative, it moves further away from the mill side. When Y < 4, the displacement distance is ⌊| L 1- L 2| / 2⌋+ kL 3; When 4≤Y≤6, the displacement distance is | L 1- L 2| / 2+ L 3; When Y > 6, the displacement distance is ⌈| L 1- L 2| / 2⌉+ kL 3; Where ⌊ ⌋ represents rounding down, and ⌈ ⌉ represents rounding up. k The value range is 0.5~0.7 or 1.5~1.

7.

6. The system for calculating the distance of the steel sheet moved forward or backward at the time of an automatic steel transfer abnormality according to claim 5, wherein After determining the distance and direction the steel plate needs to be moved, the control and data processing module is also used for: The two sets of staggered conical roller conveyors are controlled to move in the same direction and at the same speed, and continue to transfer steel after moving to the target position.

7. The calculation system for the forward and backward displacement distance of the steel plate when the automatic steel transfer is abnormal, as described in claim 5, is characterized in that, The preset duration ranges from 1.0 seconds to 2.5 seconds.

8. The calculation system for the forward and backward displacement distance of the steel plate when the automatic steel transfer is abnormal, as described in claim 5, is characterized in that, The preset distance threshold ranges from 1.0 meter to 1.5 meters.

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