Location method and analysis system for segregation analysis of steel materials

Abstract

This invention provides a positioning method and analysis system for segregation analysis of steel materials, relating to the field of metallurgical steelmaking technology. The method includes: obtaining the diameter of the sample; controlling a robotic arm to move to a preset position based on a preset threshold distance from the sample diameter to obtain a first origin; obtaining the area of ​​the analysis region; comparing the area of ​​the analysis region with a preset detection area; if the area of ​​the analysis region is smaller than the preset detection area, using the first origin as the coordinate origin, obtaining the coordinates to be moved based on the sample diameter and the threshold distance; controlling the robotic arm to move to the position of the coordinates to be moved, and updating the coordinates to be moved to a second origin; using the second origin as the coordinate origin, obtaining the detection start-point coordinates and end-point coordinates of the sample based on the coordinates to be moved. This invention solves the problem that traditional analysis methods cannot quickly and accurately locate the detection start and end points when comprehensive coverage analysis of block samples with different diameters is required.

Description

Technical Field

[0001] This invention relates to the field of metallurgical steelmaking technology, and more specifically, to a positioning method and analysis system for segregation analysis of steel materials. Background Technology

[0002] Center segregation is a common internal defect in continuously cast slabs. Because the solidification process of the continuously cast slab proceeds gradually from the outside in during casting, some low-melting-point inclusions tend to accumulate along the centerline, which can severely lead to product quality problems. Therefore, it is necessary to use an in-situ metal analyzer to analyze the segregation of steel materials. An in-situ metal analyzer is a large-scale, standardized instrument used to analyze the carbon, silicon, manganese, phosphorus, chromium, nickel, and other components in bulk steel materials.

[0003] Currently, segregation analysis of steel materials using in-situ metal analyzers primarily relies on polished block samples. This is achieved through software-controlled spark excitation of the sample using a spark source, and simultaneous scanning and analysis by a robotic arm. However, in traditional analysis processes, the robotic arm can only move in the X and Y directions, meaning the analysis area of ​​the block sample is limited to a regular rectangle. The software only allows setting the origin, returning to the origin, and adjusting the length and width of the scanning area within the sample; it lacks a coordinate system. Determining the start and end points of the detection requires two people working together. When comprehensive analysis of block samples with varying diameters (e.g., circular samples) is needed, this method cannot quickly and accurately locate the start and end points. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a positioning method and analysis system for segregation analysis of steel materials, so as to solve the problem that traditional analysis methods cannot quickly and accurately locate the detection start and end points when using a metal in-situ analyzer to perform comprehensive analysis of block samples (e.g., circular samples) of different diameters.

[0005] To achieve the above objectives, the technical solutions adopted in the embodiments of the present invention are as follows:

[0006] In a first aspect, embodiments of the present invention provide a positioning method for segregation analysis of steel materials, applied to the control unit of an analysis system. The analysis system further includes a metal in-situ analyzer, a robotic arm, and an excitation light source. The control unit is electrically connected to the metal in-situ analyzer, the robotic arm, and the excitation light source. The robotic arm is provided with a groove, which is a triangular structure. The control unit pre-stores the waist length and base value of the groove.

[0007] The method includes:

[0008] Obtain the diameter of the sample, and preset a threshold distance based on the diameter of the sample, wherein the threshold distance characterizes the closest distance between the analysis area and the edge of the sample, and the analysis area is set within the sample;

[0009] The robotic arm is controlled to move to a preset position to obtain a first origin, the preset position being the position where the apex of the groove is aligned with the center of the excitation light source;

[0010] Obtain the area of ​​the analysis region and compare it with a preset detection area;

[0011] If the area of ​​the analysis region is smaller than the preset detection area, the coordinates to be moved are obtained by taking the first origin as the coordinate origin and according to the diameter of the sample and the threshold distance.

[0012] Control the robotic arm to move to the position of the coordinate to be moved, and update the coordinate to be moved to the second origin;

[0013] Using the second origin as the coordinate origin, the detection start point coordinates and end point coordinates of the sample are obtained based on the coordinates to be moved. The robotic arm is controlled to hold the sample and move it to the area determined by the detection start point coordinates and end point coordinates of the sample, so that the light beam emitted by the excitation source can completely enter the analysis area.

[0014] In an optional implementation, the step of obtaining the coordinates to be moved based on the diameter of the sample and the threshold distance, when the area of ​​the analysis region is smaller than the preset detection area, using the first origin as the coordinate origin, includes:

[0015] When the area of ​​the analysis area is smaller than the preset detection area, the first height at which the sample enters the groove and the center of the sample is aligned with the apex of the groove is obtained based on the diameter of the sample, the waist length of the groove and the bottom edge value.

[0016] Wherein, the first height characterizes the vertical distance between the tangent of the side of the sample that contacts the groove and the bottom edge of the groove when the center of the sample is aligned with the apex of the groove at the point where the sample enters the groove;

[0017] The side length of the analysis region is obtained based on the diameter of the sample and the threshold distance;

[0018] The first coordinate value is obtained based on the side length of the analysis region;

[0019] The second coordinate value is obtained based on the diameter of the sample, the first height, and the side length of the analysis area;

[0020] Using the first origin as the origin of the coordinate system, the first coordinate value and the second coordinate value are combined to obtain the coordinates to be moved.

[0021] In an optional implementation, the step of controlling the robotic arm to move to the position of the coordinate to be moved and updating the coordinate to be moved to the second origin includes:

[0022] The robotic arm is controlled to move to the position of the coordinate to be moved, and the coordinate to be moved is set to 0 to serve as the second origin.

[0023] In an optional implementation, the step of obtaining the detection start-point and end-point coordinates of the sample based on the coordinates to be moved, using the second origin as the coordinate origin, includes:

[0024] Using the second origin as the coordinate origin, update the first coordinate value and the second coordinate value of the coordinate to be moved;

[0025] The updated first coordinate value and second coordinate value are combined to obtain the detection starting point coordinates of the sample;

[0026] The detection endpoint coordinates of the sample are obtained based on the first coordinate value, the second coordinate value, and the side length of the analysis area.

[0027] In an optional implementation, the method further includes:

[0028] If the area of ​​the analysis region is larger than the preset detection area, the analysis region is divided into a first region and a second region of the same size; wherein the center of the first region coincides with the center of the sample, and the center of the second region coincides with the center of one-quarter of the diameter of the sample.

[0029] Obtain the widths of the first region and the second region;

[0030] Using the first origin as the origin of the coordinate system, the coordinates to be moved are obtained based on the diameter of the sample, the threshold distance, and the widths of the first and second regions.

[0031] Control the robotic arm to move to the position of the coordinate to be moved, and update the coordinate to be moved to the second origin;

[0032] Using the second origin as the coordinate origin, the detection start point coordinates and end point coordinates of the first region are obtained based on the coordinates to be moved. The robot arm is controlled to hold the sample and move it to the region determined by the detection start point coordinates and end point coordinates of the first region, so that the light beam emitted by the excitation light source can completely enter the first region.

[0033] Using the second origin as the coordinate origin, the robot arm is controlled to move longitudinally from the detection starting point coordinate position in the first area to one-quarter of the diameter of the sample. The coordinates of this position are obtained based on the coordinates to be moved, and used as the third origin.

[0034] Using the third origin as the coordinate origin, the detection start point coordinates and end point coordinates of the second region are obtained based on the coordinates to be moved. The robot arm is controlled to hold the sample and move it to the region determined by the detection start point coordinates and end point coordinates of the second region, so that the light beam emitted by the excitation source can completely enter the second region.

[0035] In an optional implementation, the step of obtaining the coordinates to be moved based on the diameter of the sample, the threshold distance, and the widths of the first and second regions, using the first origin as the coordinate origin, includes:

[0036] The first height is obtained based on the diameter of the sample, the waist length of the groove, and the bottom edge value;

[0037] The lengths of the first and second regions are obtained based on the diameter of the sample, the preset threshold distance, and the widths of the first and second regions.

[0038] The third coordinate value is obtained based on the lengths of the first and second regions;

[0039] The fourth coordinate value is obtained based on the diameter of the sample, the width of the first region, the width of the second region, and the first height;

[0040] Using the first origin as the origin of the coordinate system, the third and fourth coordinate values ​​are combined to obtain the coordinates to be moved.

[0041] In an optional implementation, the step of obtaining the detection start-point coordinates and end-point coordinates of the first region based on the coordinates to be moved, using the second origin as the coordinate origin, includes:

[0042] Using the second origin as the coordinate origin, update the third and fourth coordinate values ​​of the coordinate to be moved;

[0043] The updated third and fourth coordinate values ​​are combined to obtain the detection starting point coordinates of the first region;

[0044] The detection endpoint coordinates of the first region are obtained based on the third coordinate value, the fourth coordinate value, the width of the first region, and the length of the first region.

[0045] In an optional implementation, the step of obtaining the detection start-point coordinates and end-point coordinates of the second region based on the coordinates to be moved, using the third origin as the coordinate origin, includes:

[0046] Using the third origin as the coordinate origin, update the third and fourth coordinate values ​​of the coordinate to be moved;

[0047] The updated third and fourth coordinate values ​​are combined to obtain the detection starting point coordinates of the second region;

[0048] The detection endpoint coordinates of the second region are obtained based on the third coordinate value, the fourth coordinate value, the width of the second region, and the length of the second region.

[0049] Secondly, embodiments of the present invention provide an analysis system, including a robotic arm, an excitation light source, a metal in-situ analyzer, and a control unit. The robotic arm is provided with a groove, which is a triangular structure. The control unit is electrically connected to the robotic arm, the excitation light source, and the metal in-situ analyzer. The control unit pre-stores the waist length and base value of the groove.

[0050] The robotic arm is used to grip and move the sample to be tested.

[0051] The excitation light source is used to excite and discharge the sample to be tested with a spark.

[0052] The in-situ metal analyzer is used to collect the spectral signal of the sample to be tested during the spark-induced discharge process;

[0053] The control unit is used to execute the positioning method for segregation analysis of steel materials as described in any of the foregoing embodiments, to control the robotic arm to move the sample to the area determined by the positioning method for segregation analysis of steel materials, so that the light beam emitted by the excitation light source completely enters the analysis area of ​​the sample to be tested.

[0054] In an optional implementation, the analysis system further includes a detection stage for supporting the robotic arm;

[0055] The excitation light source is disposed inside the detection stage and emits a light beam to the sample to be tested, which is held between the robotic arms, through an excitation hole opened on the detection stage.

[0056] The beneficial effects of the embodiments of the present invention include, for example:

[0057] This invention provides a positioning method and analysis system for segregation analysis of steel materials. The method obtains the coordinates to be moved by using the sample diameter and threshold distance, updates these coordinates to a second origin, and uses this second origin as the coordinate origin. Finally, based on these coordinates, the detection start-point and end-point coordinates of the sample are obtained. This positioning method establishes a corresponding coordinate system for a defined analysis area and specifies the coordinate origin within the system. By obtaining the sample diameter and corresponding parameters, the method for determining the detection start-point and end-point of the sample is quantified. This solves the problem that traditional analysis methods cannot quickly and accurately locate the detection start-point and end-point when using an in-situ metal analyzer to perform comprehensive analysis of block samples (e.g., circular samples) with different diameters.

[0058] Furthermore, the above method greatly improves the efficiency of analysis and detection, while accurately locating the detection start and end points of the sample, avoiding the problem of analysis experiment failure caused by incorrect setting of the length and width of the analysis area within the sample.

[0059] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0060] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0061] Figure 1 An exemplary structural block diagram of an analysis system provided by an embodiment of the present invention is shown;

[0062] Figure 2 A schematic flowchart of a positioning method for segregation analysis of steel materials provided by an embodiment of the present invention is shown.

[0063] Figure 3 An exemplary structural diagram of a circular sample at a robotic arm in an analytical system, provided by an embodiment of the present invention, is shown.

[0064] Figure 4 This is a second schematic flowchart of a positioning method for segregation analysis of steel materials provided by an embodiment of the present invention;

[0065] Figure 5 This is a third schematic flowchart of a positioning method for segregation analysis of steel materials provided by an embodiment of the present invention;

[0066] Figure 6 This is shown as a fourth schematic flowchart of a positioning method for segregation analysis of steel materials provided by an embodiment of the present invention;

[0067] Figure 7 This diagram illustrates an exemplary structure of another circular sample at the robotic arm in an analytical system, as provided in an embodiment of the present invention.

[0068] Figure 8 The fifth illustration shows a flowchart of a positioning method for segregation analysis of steel materials provided by an embodiment of the present invention;

[0069] Figure 9 This is shown as a sixth schematic flowchart of a positioning method for segregation analysis of steel materials provided by an embodiment of the present invention;

[0070] Figure 10 This is illustrated as a seventh flowchart of a positioning method for segregation analysis of steel materials provided by an embodiment of the present invention;

[0071] Figure 11 This is shown as the eighth schematic flowchart of a positioning method for segregation analysis of steel materials provided by an embodiment of the present invention.

[0072] Icons: 200-Analysis system; 201-Robot arm; 202-Excitation light source; 203-In-situ metal analyzer; 204-Control unit. Detailed Implementation

[0073] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0074] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0075] It should be noted that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. 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 apparatus that includes said element.

[0076] It should be noted that, where there is no conflict, the features in the embodiments of the present invention can be combined with each other.

[0077] A metal in-situ analyzer is a large-scale, public instrument used to analyze the carbon, silicon, manganese, phosphorus, chromium, nickel, and other components in bulk steel materials. The principle is as follows: First, a block sample is ground with a smooth surface and clear texture using a suitable milling machine or sandpaper. Then, the prepared block sample is used as an electrode, and a continuous spark excitation discharge is performed on the relatively moving sample using an excitation light source. The excited spark spectrum is dispersed into a line spectrum of a specific wavelength. The position and spectral signal of each spark discharge are recorded at high speed and in real time. The single spark signal is converted into an electrical signal and input into a signal memory. The emission spectral intensity of the selected reference line and analytical line is measured. The line spectrum of the single spark discharge is statistically analyzed by a computer. Based on the calibration curve made from the standard sample, the chemical composition distribution of each element within the measurement area of ​​the analytical sample is determined. Then, through content statistical distribution analysis, various indicators for evaluating the content distribution and segregation of each element are obtained: content at a specific location, maximum segregation, two-dimensional contour map of content, three-dimensional distribution map of content, frequency distribution map of content, content line distribution curve, statistical compliance, and statistical segregation, etc.

[0078] Currently, segregation analysis of steel materials using in-situ metal analyzers is mainly based on polished block samples. This is achieved by software-controlled excitation light sources to ignite the samples using spark light, and by controlling a robotic arm to scan and analyze synchronously. The robotic arm can only move in the X and Y directions, meaning the analysis area is limited to a regular rectangle. The software only allows setting the origin, returning to the origin, and adjusting the length and width of the scanning area within the sample; it lacks a coordinate system. With the sample facing down, determining the start and end points requires two people: one operates the software to move the robotic arm along the X and Y directions, while the other constantly monitors whether the sample completely covers the excitation light source's aperture. Through multiple movements, the approximate segregation detection area is determined, and at least 10mm must be left along the X and Y axes of the sample. When comprehensive coverage analysis of block samples of varying diameters (e.g., circular samples) is required, it is impossible to quickly and accurately locate the start and end points of the detection.

[0079] Based on this, embodiments of the present invention provide a method and system for locating the starting and ending points of a metal in-situ analyzer to solve the above-mentioned problems.

[0080] Please refer to the following: Figure 1 and Figure 5 , Figure 1 An exemplary structural block diagram of an analysis system 200 provided in an embodiment of the present invention is shown. The analysis system includes a robotic arm 201, an excitation light source 202, a metal in-situ analyzer 203, and a control unit 204. The robotic arm 201 is provided with a groove (not shown in the figure), and the groove has a triangular structure. The control unit 204 is electrically connected to the robotic arm 201, the excitation light source 202, and the metal in-situ analyzer 203.

[0081] Among them, the robotic arm 201 is used to clamp the steel sample to be tested (not shown in the figure) and move the steel sample to be tested, the excitation light source 202 is used to perform spark excitation discharge on the steel sample to be tested, and the metal in-situ analyzer 203 is used to collect the spectral signal of the steel sample to be tested during the spark excitation discharge process.

[0082] Furthermore, the control unit 204 is used to control the movement of the robotic arm 201 and to control the operation of the excitation light source 202. The control unit 204 can also determine the area where the steel sample to be tested needs to be moved based on the relevant parameters of the steel sample to be tested, so as to control the robotic arm 201 to move the steel sample to be tested to that area, so that the beam emitted by the excitation light source 202 can completely enter the analysis area of ​​the steel sample to be tested.

[0083] When using the above-mentioned device to analyze the steel sample to be tested, firstly, the control unit 204 determines the area where the steel sample to be tested needs to be moved based on the relevant parameters of the steel sample to be tested. Then, the robot arm 201 is controlled to hold the steel sample to be tested and move it to the area. The excitation light source 202 is activated to perform spark excitation discharge on the steel sample to be tested. At this time, the metal in-situ analyzer 203 will collect the spectral signal of the steel sample to be tested during the spark excitation discharge process. This acquisition process is a process of direct amplification and high-speed data acquisition of the spectral signal, thereby obtaining the chemical composition content and surface structure information of different positions on the surface of the steel sample in its original state. Then, the control unit 204 realizes the composition analysis, defect identification and analysis of the steel sample, as well as the qualitative and quantitative analysis of inclusions by multi-channel joint analysis, so as to finally realize the segregation analysis of the steel sample.

[0084] The following description uses the control unit 204 of the analysis system 200 as the execution entity to illustrate the positioning method for segregation analysis of steel materials provided in this embodiment of the invention. Please refer to [link to relevant documentation]. Figure 2 , Figure 2 The diagram shows a flow chart of a positioning method for segregation analysis of steel materials provided by an embodiment of the present invention.

[0085] The method is applied to the control unit 204 of the analysis system 200. The analysis system 200 also includes a metal in-situ analyzer 203, a robot arm 201 and an excitation light source 202. The control unit 204 is electrically connected to the metal in-situ analyzer 203, the robot arm 201 and the excitation light source 202. The robot arm 201 is provided with a groove, which is a triangular structure. The control unit 204 has pre-stored the waist length and base value of the groove.

[0086] The method includes:

[0087] S110, Obtain the diameter of the sample, and preset a threshold distance based on the diameter of the sample, wherein the threshold distance characterizes the closest distance between the analysis area and the edge of the sample, and the analysis area is set inside the sample.

[0088] S120, control the robotic arm to move to a preset position to obtain the first origin. The preset position is the position when the apex of the groove is aligned with the center of the excitation light source.

[0089] S130, obtain the area of ​​the analysis region and compare the area of ​​the analysis region with the preset detection area.

[0090] S140, when the area of ​​the analysis region is smaller than the preset detection area, the coordinates to be moved are obtained based on the diameter of the sample and the threshold distance, with the first origin as the origin of the coordinates.

[0091] S150 controls the robotic arm to move to the position of the coordinate to be moved, and updates the coordinate to be moved to the second origin.

[0092] S160, with the second origin as the coordinate origin, obtains the detection start point coordinates and end point coordinates of the sample based on the coordinates to be moved, and controls the robot arm to hold the sample and move it to the area determined by the detection start point coordinates and end point coordinates of the sample, so that the beam emitted by the excitation source can completely enter the analysis area.

[0093] The above steps realize the process of obtaining the coordinates to be moved based on the diameter of the sample and the threshold distance, and determining the detection start point coordinates and end point coordinates of the sample based on the coordinates to be moved.

[0094] Step S110 involves obtaining the diameter of the sample and setting a threshold distance based on the diameter of the sample.

[0095] It should be noted that the purpose of setting the threshold distance is to prevent abnormalities in the final analysis results. If the threshold distance is not set between the analysis area determined in the sample and the sample edge, that is, the edge of the analysis area is located at the edge of the sample, there may be a gap between the sample edge and the excitation light source 202 after the sample is moved to the excitation light source by the robot arm 201. When the excitation light source 202 emits a beam to the analysis area, the excitation point will turn white due to the air entering during excitation, resulting in inaccurate analysis data of the sample.

[0096] Therefore, after obtaining the diameter of the sample, it is necessary to preset a corresponding threshold distance based on the diameter of the sample to ensure the accuracy of the final analysis results.

[0097] For example, if the sample is circular, and the preset threshold distance is d1, then when the diameter of the circular sample is 80mm, the determined threshold distance d1 can be 10mm. After the threshold distance is preset, step S120 is executed to determine the initial coordinates of the robot 201 and move the robot 201 to the position of the initial coordinates. The initial coordinates can be the position where the apex of the groove of the robot 201 is aligned with the center of the excitation light source 202.

[0098] For example, with Figure 3 Taking a circular specimen as an example, the apex of the groove in the robot arm 201 can be... Figure 3 As shown in the figure, vertex O, therefore step S120 is to move the robot arm 201 to a position where vertex O is aligned with the center of the excitation light source 202, and take vertex O as the first origin at this time, that is, the coordinates of vertex O are (0, 0).

[0099] After obtaining the first origin, it is also necessary to determine the area of ​​the analysis region (i.e., step S130). Since the maximum sample area that the in-situ metal analyzer can analyze in a single run is 7200 mm², this is crucial. 2 That is, 80mm × 90mm, when the analytical area of ​​the sample exceeds 7200mm. 2 If the final analysis results are abnormal, it is necessary to compare the maximum analyzable sample area with the actual sample area. If the requirements are met, continue to execute step S140, using the first origin as the coordinate origin, and determine the coordinate to be moved according to the corresponding parameters.

[0100] For example, in step S140, when the first origin is taken as the origin of the coordinate system, the side length of the analysis area within the sample can be calculated based on the diameter of the sample and the threshold distance obtained in step S110. The coordinates to be moved can then be obtained based on the side length value, the diameter of the sample, and the threshold distance.

[0101] After obtaining the coordinates to be moved, step S150 is executed, controlling the robot arm 201 to move to the position of the coordinates to be moved, using these coordinates as the origin, and finally obtaining the detection start point coordinates and end point coordinates of the sample based on the coordinates to be moved. Since the detection start point coordinates and end point coordinates of the sample have been determined, the robot arm 201 can be controlled to clamp the sample to the area determined by the detection start point coordinates and end point coordinates of the sample. At this time, the light beam emitted by the excitation light source 202 will completely enter the analysis area of ​​the sample (i.e., step S160).

[0102] For example, based on Figure 3 The circular specimen shown has the x-axis and y-axis of the coordinate system as follows: Figure 3 Taking the direction shown and the determined analysis area as a square as an example, if the diameter of the circular sample obtained through step S110 is d, the obtained threshold distance is d1, the side length of the analysis area obtained through step S140 is a, and the coordinates to be moved are further obtained as (x, y).

[0103] Based on the above parameters, after controlling the robot arm 201 to move to (x, y) in step S150, the coordinates of the vertex O of the groove of the robot arm 201 will change from (0, 0) to (x, y). (x, y) will be updated to the second origin, i.e., (x, y) will be set to 0. Using this position as the origin, the detection start point coordinates of the sample in this coordinate system are (-x, -y), and the detection end point coordinates are (-x+a, -y+a). At this time, the robot arm 201 can be controlled to clamp the sample and move it to the area of ​​the above coordinates according to the above detection start point coordinates and detection end point coordinates, so that the beam emitted by the excitation light source 202 completely enters the analysis area.

[0104] This invention provides a positioning method and analysis system for segregation analysis of steel materials. The method obtains the coordinates to be moved by using the sample diameter and threshold distance, updates these coordinates to a second origin, and uses this second origin as the coordinate origin. Finally, based on the coordinates to be moved, the detection start point coordinates and end point coordinates of the sample are obtained. This positioning method establishes a corresponding coordinate system for a defined analysis area and specifies the coordinate origin within the system. By obtaining the sample diameter and corresponding parameters, the method for determining the detection start point and end point of the sample is quantified. This solves the problem that traditional analysis methods cannot quickly and accurately locate the detection start point and end point when using a metal in-situ analyzer 203 to perform comprehensive analysis of block samples (e.g., circular samples) with different diameters.

[0105] Furthermore, the above method greatly improves the efficiency of analysis and detection, while accurately locating the detection start and end points of the sample, avoiding the problem of analysis experiment failure caused by incorrect setting of the length and width of the analysis area within the sample.

[0106] Optionally, the specific process of obtaining the coordinates to be moved based on the sample diameter and threshold distance in step S140 requires obtaining the side length of the analysis area within the sample and the perpendicular distance between the tangent on the side of the sample in contact with the groove and the bottom edge of the groove, in order to finally obtain a more accurate coordinate value to be moved. This process can be achieved through the following steps:

[0107] Please see Figure 4 , Figure 4 This is a second schematic flowchart of a positioning method for segregation analysis of steel materials provided by an embodiment of the present invention. Step S140, where the area of ​​the analysis region is smaller than a preset detection area, involves obtaining the coordinates to be moved based on the diameter of the sample and a threshold distance, using the first origin as the coordinate origin.

[0108] S141, when the area of ​​the analysis area is smaller than the preset detection area, the first height of the sample when it enters the groove and the center of the sample is aligned with the apex of the groove is obtained based on the diameter of the sample, the waist length of the groove and the bottom edge value.

[0109] The first height represents the vertical distance between the tangent on the side of the sample that contacts the groove and the bottom edge of the groove when the center of the sample is aligned with the apex of the groove.

[0110] S142, the side length of the analysis area is obtained based on the diameter of the sample and the threshold distance.

[0111] S143, obtain the first coordinate value based on the side length of the analysis area.

[0112] S144, the second coordinate value is obtained based on the diameter of the sample, the first height, and the side length of the analysis area.

[0113] S145, taking the first origin as the origin of the coordinate system, combine the first coordinate value and the second coordinate value to obtain the coordinates to be moved.

[0114] The above steps enable the determination of the side length of the sample based on its diameter and threshold distance, as well as the perpendicular distance between the tangent on the side of the sample that contacts the groove and the bottom edge of the groove, in order to obtain a more accurate coordinate value to be moved.

[0115] For example, based on Figure 3 The circular specimen shown has the x-axis and y-axis of the coordinate system as follows: Figure 3 Taking the direction shown and the determined analysis area as a square as an example, if the diameter of the circular sample obtained through step S110 is d and the obtained threshold distance is d1, the above-mentioned coordinates to be moved can be determined through the following steps:

[0116] If the waist length of the groove is 9mm and the bottom edge length is 14.9mm, and the vertical distance (i.e., the first height) between the tangent of the side of the sample that contacts the groove and the bottom edge of the groove when the center of the sample is aligned with the apex of the groove is set to h, then the relationship between h and the diameter d of the sample can be expressed by the following formula:

[0117]

[0118] Then you can get

[0119] Furthermore, if we set the side length of the analysis region to be 'a', then...

[0120] If the first coordinate is set to x, then the first coordinate value is obtained based on the side length a of the analysis region.

[0121] If the second coordinate value is set to y, then the second coordinate value is obtained based on the sample diameter d, the first height h, and the side length a of the analysis region.

[0122] Therefore, by taking the first origin as the origin of the coordinate system and combining the first and second coordinate values, the coordinates to be moved are (x, y).

[0123] Optionally, the process in step S150 of controlling the robot arm 201 to move to the position of the coordinate to be moved and updating the coordinate to be moved to the second origin is the process of setting the coordinate point to 0. This process can be specifically described as follows:

[0124] Please see Figure 5 , Figure 5 This illustrates a third flowchart of a positioning method for segregation analysis of steel materials according to an embodiment of the present invention. Step S150, which involves controlling the robotic arm to move to the position of the coordinate to be moved and updating the coordinate to be moved to the second origin, includes:

[0125] S151, control the robot arm to move to the position of the coordinate to be moved, and set the coordinate to be moved to 0 as the second origin.

[0126] The above steps realize the process of updating the second origin.

[0127] For example, with Figure 3 The circular specimen shown has the x-axis and y-axis of the coordinate system as follows: Figure 3 Taking the direction shown and the determined analysis area as a square as an example, if the coordinates to be moved are (x, y) as determined above, when the robot arm 201 moves to the position of (x, y), the position is set to 0, and the coordinates of the position become (0, 0).

[0128] Optionally, the process of determining the starting and ending coordinates of the sample using the second origin as the coordinate origin in step S160 is the process of matching the first and second coordinate values ​​in the coordinate system to be moved to a new coordinate system based on the second origin as the coordinate origin. The above process can be specifically implemented through the following steps:

[0129] Please see Figure 6 , Figure 6 This illustrates the fourth step of a flow chart of a positioning method for segregation analysis of steel materials provided by an embodiment of the present invention. Step S160, which uses the second origin as the coordinate origin and obtains the detection start-point and end-point coordinates of the sample based on the coordinates to be moved, includes:

[0130] S161, using the second origin as the origin of the coordinate system, update the first and second coordinate values ​​of the coordinates to be moved.

[0131] S162, combine the updated first coordinate value and the second coordinate value to obtain the detection starting point coordinate of the sample.

[0132] S163, the coordinates of the test endpoint of the sample are obtained based on the first coordinate value, the second coordinate value and the side length of the analysis area.

[0133] The above steps realize the process of obtaining the starting point coordinates and ending point coordinates of the sample based on the coordinates to be moved.

[0134] For example, based on Figure 3 The circular specimen shown has the x-axis and y-axis of the coordinate system as follows: Figure 3Taking the direction shown and the determined analysis area as a square as an example, if the diameter of the circular sample obtained through step S110 is d, the obtained threshold distance is d1, the side length of the analysis area obtained through step S140 is a, and the coordinates to be moved are further obtained as (x, y).

[0135] Based on the above parameters, after the robot arm 201 is moved to (x, y) in step S150, the coordinates of the vertex O of the groove of the robot arm 201 will change from (0, 0) to (x, y). (x, y) is updated to the second origin. Then, with the second origin as the coordinate origin, the first coordinate value x and the second coordinate value y of the coordinate to be moved are updated in the coordinate system at this time to obtain the updated first coordinate value -x and the second coordinate value -y. The updated first coordinate value and the second coordinate value are combined to obtain the detection starting point coordinates of the sample as (-x, -y). At the same time, the detection ending point coordinates of the sample are obtained according to the first coordinate value, the second coordinate value and the side length of the analysis area as (-x+a, -y+a).

[0136] Optionally, the above method is a process of determining the detection start point coordinates and end point coordinates of the sample based on the fact that the actual area of ​​the sample is less than the maximum sample area that the metal in-situ analyzer can analyze in a single run (i.e., the preset detection area).

[0137] When the analytical area of ​​the sample exceeds the maximum sample area that the in-situ metal analyzer can analyze in a single run (e.g., the analytical area of ​​the sample exceeds 7200 mm²), 2 To avoid anomalies in the final analysis results, the sample's analytical area needs to be divided into two analytical regions. This ensures that the area of ​​each analytical region is smaller than the maximum sample area that the in-situ metal analyzer can analyze in a single run. Furthermore, the starting and ending coordinates of the detection point are determined for each analytical region.

[0138] For example, based on Figure 3 The circular sample shown has segregation analysis primarily concentrated in its center and a quarter-section. Therefore, if the area of ​​the analytical region of the circular sample is larger than the preset detection area, the analytical region can be divided into two analytical regions (e.g., as shown). Figure 7 The analysis regions A and B are shown, with one analysis region located at the center of the circular sample and the other at the center of a quarter of the diameter of the circular sample, to make the final segregation analysis of the circular sample more accurate.

[0139] Based on this, the above process can be implemented through the following steps:

[0140] Please see Figure 8 , Figure 8The fifth illustration shows a flowchart of a method for locating segregation in steel materials according to an embodiment of the present invention. This method for locating segregation in steel materials further includes:

[0141] S170, when the area of ​​the analysis region is larger than the preset detection area, the analysis region is divided into a first region and a second region of the same size; wherein the center of the first region coincides with the center of the sample, and the center of the second region coincides with the center of one-quarter of the diameter of the sample.

[0142] S171, obtain the widths of the first and second regions.

[0143] S172, with the first origin as the coordinate origin, the coordinates to be moved are obtained based on the diameter of the sample, the threshold distance, and the widths of the first and second regions.

[0144] S173, control the robot arm to move to the position of the coordinate to be moved, and update the coordinate to be moved to the second origin.

[0145] S174, taking the second origin as the coordinate origin, obtains the detection start point coordinates and end point coordinates of the first region based on the coordinates to be moved, and controls the robot arm to hold the sample and move it to the region determined by the detection start point coordinates and end point coordinates of the first region, so that the beam emitted by the excitation source can completely enter the first region.

[0146] S175, with the second origin as the coordinate origin, control the robot arm to move longitudinally from the position of the detection starting point coordinate in the first area to one-quarter of the diameter of the sample, and obtain the coordinates of the position based on the coordinates to be moved, so as to serve as the third origin.

[0147] S176, taking the third origin as the coordinate origin, obtains the detection start point coordinates and end point coordinates of the second region based on the coordinates to be moved, and controls the robot arm to hold the sample and move it to the region determined by the detection start point coordinates and end point coordinates of the second region, so that the beam emitted by the excitation source can completely enter the second region.

[0148] The above steps enable the determination of the detection start-point and end-point coordinates of the first and second regions, respectively, based on the first and second regions of the same size, when the area of ​​the analysis region is larger than the preset detection area.

[0149] Optionally, since the widths of the first and second regions are preset, after obtaining the widths of the first and second regions in step S171, the process of obtaining the coordinates to be moved in step S172 based on the sample diameter, threshold distance, and the widths of the first and second regions requires obtaining the lengths of the first and second regions based on the sample diameter and threshold distance, as well as the perpendicular distance between the tangent on the side of the sample that contacts the groove and the bottom edge of the groove, in order to finally obtain a more accurate coordinate value to be moved. This process can be achieved through the following steps:

[0150] Please see Figure 9 , Figure 9 This illustration shows a sixth flowchart of a positioning method for segregation analysis of steel materials provided by an embodiment of the present invention. Step S172, which uses the first origin as the coordinate origin and obtains the coordinates to be moved based on the sample diameter, threshold distance, and the widths of the first and second regions, includes:

[0151] S1721, the first height is obtained based on the diameter of the sample, the waist length of the groove, and the bottom edge value.

[0152] S1722, the lengths of the first and second regions are obtained based on the diameter of the sample, the preset threshold distance, and the widths of the first and second regions.

[0153] S1723, the third coordinate value is obtained based on the lengths of the first and second regions.

[0154] S1724, the fourth coordinate value is obtained based on the diameter of the sample, the width of the first region, the width of the second region, and the first height.

[0155] S1725, using the first origin as the coordinate origin, combine the third and fourth coordinate values ​​to obtain the coordinates to be moved.

[0156] The above steps realize the process of obtaining the length of the first region and the second region based on the diameter of the sample, the preset threshold distance, and the width of the first region and the second region, as well as the obtained first height (i.e., the vertical distance between the tangent of the side of the sample that contacts the groove and the bottom edge of the groove when the center of the sample is aligned with the apex of the groove), so as to finally obtain a more accurate coordinate value to be moved.

[0157] For example, based on Figure 7 The circular specimen shown has the x-axis and y-axis of the coordinate system as follows: Figure 7Taking the direction shown, and using two rectangular areas of the same size as examples, if the diameter of the circular sample obtained in step S110 is d, the threshold distance is d1, and the widths of the first and second areas obtained in step S171 are both b (where b ≤ d / 4), the above-mentioned coordinates to be moved can be determined through the following steps:

[0158] If the waist length of the groove is 9mm and the bottom edge length is 14.9mm, and the vertical distance (i.e., the first height) between the tangent of the side of the sample that contacts the groove and the bottom edge of the groove when the center of the sample is aligned with the apex of the groove is set to h, then the relationship between h and the diameter d of the sample can be expressed by the following formula:

[0159]

[0160] Then you can get

[0161] Furthermore, if the lengths of the first and second regions are both set to 'a', then the relationship between 'a', the sample diameter 'd', and the threshold distance 'd1' can be expressed by the following formula:

[0162]

[0163] but

[0164] If the third coordinate is set to x, then the first coordinate is obtained based on the length 'a' of the first and second regions.

[0165] If the fourth coordinate is set to y, then the fourth coordinate value is obtained based on the sample diameter d, the width of the first region, the width of the second region b, and the first height h:

[0166]

[0167] Therefore, by taking the first origin as the origin of the coordinate system and combining the third and fourth coordinate values, the resulting coordinates to be moved are (x, y).

[0168] Optionally, the process of determining the detection start-point and end-point coordinates of the first region in step S174 using the second origin as the coordinate origin is the process of matching the three coordinate values ​​and the fourth coordinate value in the coordinate system to be moved to a new coordinate system based on the second origin as the coordinate origin. The above process can be specifically implemented through the following steps:

[0169] Please see Figure 10 , Figure 10This illustrates the seventh flowchart of a positioning method for segregation analysis of steel materials provided by an embodiment of the present invention. Step S174, which uses the second origin as the coordinate origin and obtains the detection start-point and end-point coordinates of the first region based on the coordinates to be moved, includes:

[0170] S1741, using the second origin as the origin, update the third and fourth coordinate values ​​of the coordinates to be moved.

[0171] S1742, combine the updated third and fourth coordinate values ​​to obtain the detection starting point coordinates of the first region.

[0172] S1743, the detection endpoint coordinates of the first region are obtained based on the third coordinate value, the fourth coordinate value, the width of the first region, and the length of the first region.

[0173] The above steps realize the process of obtaining the detection start point coordinates and end point coordinates of the first region based on the coordinates to be moved.

[0174] For example, based on Figure 7 The circular specimen shown has the x-axis and y-axis of the coordinate system as follows: Figure 7 Taking the direction shown as an example, if the two analytical regions are rectangles of the same size, and the diameter of the circular sample obtained through step S110 is d, the threshold distance is d1, and the lengths of the first region A and the second region B obtained through step S172 are both a, the coordinates to be moved are further obtained as (x, y).

[0175] Based on the above parameters, after controlling the robot arm 201 to move to (x, y) in step S173, the coordinates of the vertex O of the robot arm groove will change from (0, 0) to (x, y). (x, y) is updated as the second origin. Then, with the second origin as the coordinate origin, the third coordinate value x and the fourth coordinate value y of the coordinate to be moved are updated in the coordinate system at this time to obtain the updated third coordinate value -x and the fourth coordinate value -y. The updated third coordinate value and the fourth coordinate value are combined to obtain the detection starting point coordinates of the sample as (-x, -y). At the same time, the detection ending point coordinates of the first region A are obtained according to the third coordinate value, the fourth coordinate value, the width b of the first region A and the length a of the first region A as (-x+a, -y+b).

[0176] Optionally, the process of determining the detection start-point and end-point coordinates of the second region in step S176 using the third origin as the coordinate origin is the process of matching the three coordinate values ​​and the fourth coordinate value in the coordinate system to be moved to a new coordinate system based on the third origin as the coordinate origin. The above process can be specifically implemented through the following steps:

[0177] Please see Figure 11 , Figure 11This illustrates the eighth flowchart of a positioning method for segregation analysis of steel materials provided by an embodiment of the present invention. Step S176, which uses the third origin as the coordinate origin and obtains the detection start-point and end-point coordinates of the second region based on the coordinates to be moved, includes:

[0178] S1761, using the third origin as the coordinate origin, update the third and fourth coordinate values ​​of the coordinate to be moved.

[0179] S1762, combine the updated third and fourth coordinate values ​​to obtain the detection starting point coordinates of the second region.

[0180] S1763, the detection endpoint coordinates of the second region are obtained based on the third coordinate value, the fourth coordinate value, the width of the second region, and the length of the second region.

[0181] The above steps realize the process of obtaining the detection start point coordinates and end point coordinates of the second region based on the coordinates to be moved.

[0182] For example, based on Figure 7 The circular specimen shown has the x-axis and y-axis of the coordinate system as follows: Figure 7 Taking the direction shown as an example, if the two analytical regions are rectangles of the same size, and the diameter of the circular sample obtained through step S110 is d, the threshold distance is d1, and the lengths of the first region A and the second region B obtained through step S172 are both a, the coordinates to be moved are further obtained as (x, y).

[0183] Based on the above parameters, in step S175, the robot arm 201 is controlled to move longitudinally from the detection starting point coordinates (x, y) of the first region A to one-quarter of the diameter of the circular sample. At this time, the coordinates of the vertex O of the robot arm groove will change from (0, 0) to (0, d / 4). Taking (0, d / 4) as the third origin, the third coordinate value x and the fourth coordinate value y of the coordinate to be moved are updated in the coordinate system at this time, resulting in the updated third coordinate value -x and the fourth coordinate value -y+d / 4. Combining the updated third and fourth coordinate values, the detection starting point coordinates of the sample are obtained as (-x, -y+d / 4). At the same time, the detection ending point coordinates of the second region B are obtained as (-x+a, -y+d / 4+b) based on the third coordinate value, the fourth coordinate value, the width b of the second region B, and the length a of the second region B.

[0184] Based on the above-mentioned positioning method for segregation analysis of steel materials, an analysis system 200 is presented below. The control unit in the analysis system is used to execute the process steps in the above-mentioned implementation methods and achieve the corresponding technical effects.

[0185] Specifically, such as Figure 1As shown, the analysis system 200 includes a robotic arm 201, an excitation light source 202, a metal in-situ analyzer 203, and a control unit 204. The robotic arm 201 is provided with a groove, which is a triangular structure. The control unit 204 is electrically connected to the robotic arm 201, the excitation light source 202, and the metal in-situ analyzer 203. The control unit 204 has pre-stored the waist length and base value of the groove.

[0186] The robotic arm 201 is used to grip and move the sample to be tested (not shown in the figure).

[0187] The excitation light source 202 is used to excite the sample to be tested by spark discharge.

[0188] The 203 in-situ metal analyzer is used to collect the spectral signal of the sample to be tested during the spark-induced discharge process.

[0189] The control unit 204 is used to execute the positioning method for segregation analysis of steel materials provided in any of the foregoing embodiments to control the manipulator 201 to move the sample to the area determined by the positioning method for segregation analysis of steel materials, so that the light beam emitted by the excitation light source 202 completely enters the analysis area of ​​the sample to be tested.

[0190] Optionally, the analysis system 200 also includes a detection stage (not shown) for supporting the robot arm 201.

[0191] The excitation light source 202 is set inside the detection stage and emits a light beam to the sample to be tested, which is held between the robot arm 201, through an excitation hole (not shown in the figure) opened on the detection stage.

[0192] Based on the above analysis system 200, and Figure 3 and Figure 7 For circular specimens, the process of determining the starting and ending coordinates of the test start point and the ending point of the test using the positioning method described above for segregation analysis of steel materials can be illustrated as follows:

[0193] For example, with Figure 3 Taking a circular sample as an example, if the diameter of the circular sample is 80 mm and segregation detection is required in the central single region of the circular sample, the determined analysis region is a square region, the determined threshold distance d1 is 10 mm, and the calculated side length a of the analysis region is 49.50 mm.

[0194] Move the robot arm 201 to a position where the apex O of its groove is aligned with the center of the excitation light source (when the excitation light source is set inside the detection stage and emits a beam of light to the sample to be tested held between the robot arms through the excitation hole opened on the detection stage, the robot arm 201 can be moved to a position where the apex O of its groove is aligned with the center of the excitation hole). Using this point as the origin of the coordinate system, the coordinates to be moved are (24.75, 69.10) according to the diameter of the sample and the threshold distance. Control the robot arm 201 to move to the position (24.75, 69.10). Using this coordinate to be moved as the origin of the coordinate system, the starting point coordinates and the ending point coordinates of the segregation detection of a circular sample with a diameter d of 80 mm can be determined.

[0195] For example, with Figure 3 Taking a circular sample as an example, if the diameter of the circular sample is 150 mm, and segregation detection is required in the central single region of the circular sample, then the determined analytical region is a square region, the determined threshold distance d1 is 30 mm, and the area of ​​the analytical region is 7199.52 mm². 2 The area of ​​the analysis region must be smaller than the preset detection area of ​​7200 mm². 2 Requirements.

[0196] Furthermore, the side length a of the analysis area is calculated to be 84.85 mm. The robot arm 201 is moved to a position where the apex O of its groove is aligned with the center of the excitation light source. Taking this position as the origin of the coordinate system, the coordinates to be moved are (42.43, 122.10) based on the diameter of the sample and the threshold distance. The robot arm 201 is then moved to the position (42.43, 122.10). Using this coordinate to be moved as the origin of the coordinate system, the starting point coordinates and the ending point coordinates of the segregation detection for a circular sample with a diameter d of 150 mm can be determined.

[0197] For example, with Figure 7 Taking a circular sample as an example, if the diameter of the circular sample is 180 mm, then the total area of ​​the circular sample already far exceeds the preset detection area of ​​7200 mm². 2 Even if the analytical area is set within the circular sample, its area will not reach the preset detection area of ​​7200 mm². 2 The requirement is that the segregation detection of a single central region of the circular sample cannot fully reflect the overall segregation situation of the circular sample.

[0198] Therefore, the analysis area needs to be divided into two equally sized regions, A and B, for separate testing. The center of region A should coincide with the center of the circular sample, and the center of region B should coincide with the center of one-quarter of the diameter of the circular sample. The width of regions A and B is set to d / 4, or 45 mm. The threshold distance d1 is determined to be 10 mm. The calculated length a of regions A and B is 85.88 mm. Therefore, the area of ​​both regions A and B is 3864.6 mm². 2 .

[0199] Furthermore, the robot arm 201 is moved to a position where its groove apex O is aligned with the center of the excitation light source. Taking this position as the origin of the coordinate system, the coordinates to be moved are (42.94, 117.24) based on the diameter of the sample, the threshold distance, and the widths of the first region A and the second region B. The robot arm 201 is then moved to the position (42.94, 117.24). Using these coordinates to be moved as the origin of the coordinate system, the starting and ending coordinates of the segregation detection in the first region A of the circular sample with a diameter d of 180 mm can be determined.

[0200] After the first region A is detected, the robot arm 201 is moved longitudinally from the detection starting point coordinates of the first region A to one-quarter of the diameter of the circular sample (that is, the robot arm is moved d / 4 distance along the Y-axis from the detection starting point coordinates of the first region A). At this time, the coordinates of the vertex O of the groove of the robot arm 201 will change from (0, 0) to (0, d / 4). Taking (0, d / 4) as the origin of the coordinates, the segregation detection starting point coordinates and detection ending point coordinates of the second region B can be determined.

[0201] The above method greatly improves the efficiency of analysis and detection, and at the same time accurately locates the detection start and end points of the sample, avoiding the problem of analysis experiment failure caused by incorrect setting of the length and width of the analysis area in the sample.

[0202] In the several embodiments provided by this invention, it should be understood that the disclosed systems and methods can also be implemented in other ways. The system embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functions, and operations that the systems and methods according to various embodiments of the invention may implement. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0203] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A positioning method for segregation analysis of steel materials, characterized by, The application is applied to a control unit of an analysis system, the analysis system further comprises a metal in-situ analyzer, a manipulator and an excitation light source, the control unit is electrically connected with the metal in-situ analyzer, the manipulator and the excitation light source, the manipulator is provided with a groove, the groove is a triangular structure, and the control unit pre-stores a waist length and a bottom side value of the groove; The method comprises: Obtaining the diameter of the sample, and presetting a threshold distance according to the diameter of the sample, wherein the threshold distance represents the nearest distance from the analysis area to the edge of the sample, and the analysis area is arranged in the sample; Controlling the manipulator to move to a preset position to obtain a first origin point, wherein the preset position is a position at which the vertex of the groove is aligned with the center of the excitation light source; Obtaining the area of the analysis area, and comparing the area of the analysis area with a preset detection area; In the case that the area of the analysis area is smaller than the preset detection area, taking the first origin point as a coordinate origin point, obtaining a to-be-moved coordinate according to the diameter of the sample and the threshold distance; Controlling the manipulator to move to the position of the to-be-moved coordinate, and updating the to-be-moved coordinate as a second origin point; Taking the second origin point as a coordinate origin point, obtaining the detection start point coordinate and the detection end point coordinate of the sample based on the to-be-moved coordinate, and controlling the manipulator to clamp the sample to move to a region determined by the detection start point coordinate and the detection end point coordinate, so that the light beam emitted by the excitation light source completely enters the analysis area.

2. The positioning method for segregation analysis of steel material according to claim 1, characterized by, The step of obtaining the to-be-moved coordinate according to the diameter of the sample and the threshold distance in the case that the area of the analysis area is smaller than the preset detection area, taking the first origin point as a coordinate origin point, comprises: In the case that the area of the analysis area is smaller than the preset detection area, obtaining a first height when the sample enters the groove and the center of the sample is aligned with the vertex of the groove according to the diameter of the sample, the waist length and the bottom side value of the groove, wherein the first height represents the vertical distance between the tangent line of the side of the sample in contact with the groove and the bottom side of the groove when the sample enters the groove and the center of the sample is aligned with the vertex of the groove; Obtaining the side length of the analysis area according to the diameter of the sample and the threshold distance; Obtaining a first coordinate value according to the side length of the analysis area; Obtaining a second coordinate value according to the diameter of the sample, the first height and the side length of the analysis area; Combining the first coordinate value and the second coordinate value to obtain the to-be-moved coordinate, taking the first origin point as a coordinate origin point.

3. The positioning method for segregation analysis of steel material according to claim 2, characterized by, The step of controlling the manipulator to move to the position of the to-be-moved coordinate and updating the to-be-moved coordinate as a second origin point, comprises: Controlling the manipulator to move to the position of the to-be-moved coordinate, and setting the to-be-moved coordinate to 0 as a second origin point.

4. The positioning method for segregation analysis of steel material according to claim 2, characterized by, The step of obtaining the detection start point coordinate and the detection end point coordinate of the sample based on the to-be-moved coordinate, taking the second origin point as a coordinate origin point, comprises: Updating the first coordinate value and the second coordinate value of the to-be-moved coordinate, taking the second origin point as a coordinate origin point. combining the updated first coordinate value and second coordinate value to obtain a detection starting point coordinate of the sample; obtaining a detection ending point coordinate of the sample according to the first coordinate value, the second coordinate value and the side length of the analysis region.

5. The positioning method for segregation analysis of steel material according to claim 2, characterized by, The method further comprises: in a case where the area of the analysis region is greater than a preset detection area, dividing the analysis region into a first region and a second region of the same size, wherein the center of the first region coincides with the center of the sample, and the center of the second region coincides with the center of the quarter of the diameter of the sample; obtaining the width of the first region and the second region; obtaining the first origin as the coordinate origin, and obtaining the to-be-moved coordinate according to the diameter of the sample, the threshold distance and the width of the first region and the second region; controlling the mechanical hand to move to the position of the to-be-moved coordinate, and updating the to-be-moved coordinate as a second origin; obtaining the detection starting point coordinate and the detection ending point coordinate of the first region based on the to-be-moved coordinate with the second origin as the coordinate origin, and controlling the mechanical hand to clamp the sample to move to the region determined by the detection starting point coordinate and the detection ending point coordinate of the first region, so that the light beam emitted by the excitation light source completely enters the first region; controlling the mechanical hand to move from the position of the detection starting point coordinate of the first region to the quarter of the diameter of the sample along the longitudinal direction with the second origin as the coordinate origin, obtaining the coordinate of the position as a third origin based on the to-be-moved coordinate; obtaining the detection starting point coordinate and the detection ending point coordinate of the second region based on the to-be-moved coordinate with the third origin as the coordinate origin, and controlling the mechanical hand to clamp the sample to move to the region determined by the detection starting point coordinate and the detection ending point coordinate of the second region, so that the light beam emitted by the excitation light source completely enters the second region.

6. The positioning method for segregation analysis of steel material according to claim 5, characterized by, The step of obtaining the to-be-moved coordinate with the first origin as the coordinate origin according to the diameter of the sample, the threshold distance and the width of the first region and the second region comprises: obtaining the first height according to the diameter of the sample, the waist length and the base value of the groove; obtaining the length of the first region and the second region according to the diameter of the sample, the preset threshold distance and the width of the first region and the second region; obtaining a third coordinate value according to the length of the first region and the second region; obtaining a fourth coordinate value according to the diameter of the sample, the width of the first region and the second region and the first height; combining the third coordinate value and the fourth coordinate value to obtain the to-be-moved coordinate with the first origin as the coordinate origin.

7. The positioning method for segregation analysis of steel material according to claim 6, characterized by, The step of obtaining the detection starting point coordinate and the detection ending point coordinate of the first region based on the to-be-moved coordinate with the second origin as the coordinate origin comprises: updating the third coordinate value and the fourth coordinate value of the to-be-moved coordinate with the second origin as the coordinate origin; combining the updated third coordinate value and fourth coordinate value to obtain the detection starting point coordinate of the first region; The detection end point coordinates of the first region are obtained according to the third coordinate value, the fourth coordinate value, the width of the first region and the length of the first region.

8. The positioning method for segregation analysis of steel material according to claim 6, characterized by, The step of obtaining the detection start point coordinates and the detection end point coordinates of the second region based on the third origin as the coordinate origin and the to-be-moved coordinates comprises: updating the third coordinate value and the fourth coordinate value of the to-be-moved coordinates with the third origin as the coordinate origin; combining the updated third coordinate value and the fourth coordinate value to obtain the detection start point coordinates of the second region; The detection end point coordinates of the second region are obtained according to the third coordinate value, the fourth coordinate value, the width of the second region and the length of the second region.

9. An analytical system, characterized by The mechanical arm, the excitation light source, the metal in-situ analyzer and the control unit are provided, the mechanical arm is provided with a groove, the groove is a triangular structure, the control unit is electrically connected with the mechanical arm, the excitation light source and the metal in-situ analyzer, the control unit pre-stores the waist length and the bottom edge value of the groove; The mechanical arm is used for clamping and moving the to-be-tested sample; The excitation light source is used for spark excitation discharge on the to-be-tested sample; The metal in-situ analyzer is used for collecting the spectrum signal of the to-be-tested sample in the spark excitation discharge process; The control unit is used for executing the positioning method for steel material segregation analysis according to any one of claims 1-8 to control the mechanical arm to clamp the sample to move into the region determined by the positioning method for steel material segregation analysis, so that the light beam emitted by the excitation light source completely enters the analysis region of the to-be-tested sample.

10. The analytical system of claim 9, wherein, The analysis system further comprises a detection stage, and the detection stage is used for carrying the mechanical arm; The excitation light source is arranged in the detection stage and emits a light beam on the to-be-tested sample clamped between the mechanical arms through an excitation hole formed on the detection stage.

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