A real-time roller path position micro-tracking method for steel pipe materials

Abstract

The present invention discloses a real-time roller path position micro-tracking method for steel pipe materials, and the method includes: establishing a continuous straight-line tracking logic for the micro-tracking of steel pipe materials on the roller path based on the roller path inlet signal, the roller path outlet signal, and the speed integration model; establishing a key discrete point position tracking logic for the micro-tracking of steel pipe materials on the roller path based on the hot and cold detection signals between different sections of the roller path; and within a limited window distance, correcting the continuous straight-line tracking position according to the discrete point correction signal. By using the method of the present invention, through continuous position prediction and discrete point position correction, automatic tracking of steel pipe materials on the roller path is realized. This method has high accuracy and reliability, is easy to maintain, and does not require modification of the original production line.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent manufacturing of steel products, and particularly relates to a real-time roller path position micro-tracking method for steel pipe materials. Background Art

[0002] For manufacturing enterprises, production is the foundation of the enterprise. Production data can truly reflect the production status, and real-time tracking of production conditions is the key to realizing enterprise information management. As the core of the underlying data source of intelligent manufacturing, the material tracking system plays a crucial role. It not only visualizes the real-time status of the queue, position, quantity, and abnormal online / offline of materials, but also provides various real-time associated data for modules such as production, quality, energy, and digital twin. The traditional method of tracking by heat number and batch can no longer meet the actual needs of fine production, and many enterprises also require traceability of each piece in the production process. The piece-by-piece tracking system can ensure that after product performance problems occur, it can accurately trace to the specific pipe and the specific process where the problem occurs, which is a solid foundation and a key link in intelligent manufacturing.

[0003] The transport roller path is an indispensable part of the steel pipe production line. Steel pipe production goes through processes such as heating furnace, piercing, rolling, and reducing diameter, and needs to be transported by roller path between the equipment of each process. Accurate tracking of the position of the steel pipe roller path is an important module in the calculation of the piece-by-piece tracking model of materials. Due to abnormal detection components and actual factors such as friction misalignment between materials and the roller path when the roller path starts and stops, how to clarify the position of the steel pipe at each moment when it moves on the roller path and achieve real-time accurate tracking with small errors has always been a difficult problem. Summary of the Invention

[0004] Aiming at the above problems, the purpose of the present invention is to provide a real-time roller path position micro-tracking method for steel pipe materials, which realizes real-time and accurate tracking of steel pipe materials on the roller path through continuous position prediction and discrete point position correction.

[0005] To solve the above technical problems, the embodiments of the present invention provide the following solutions:

[0006] A real-time roller path position micro-tracking method for steel pipe materials, comprising the following steps:

[0007] S1: Establish a continuous straight-line tracking logic for the steel pipe material roller path micro-tracking based on the roller path entrance signal, roller path exit signal, and speed integration model;

[0008] S2: Establish a key discrete point position tracking logic for the steel pipe material roller path micro-tracking based on the hot and cold detection signals between different sections of the roller path;

[0009] S3: Within a limited window distance, correct the continuous straight-line tracking position according to the discrete point correction signal.

[0010] Preferably, the micro-tracking continuous linear tracking logic of the steel pipe material roller table based on the roller table inlet signal, the roller table outlet signal, and the speed integration model means that according to the actual feedback speed of the roller table, the predicted position of the steel pipe head between the roller table inlet and the roller table outlet is calculated, as shown in Equation (1):

[0011] d = s0 + ∫r n v n dt, 1 ≤ n ≤ m (1)

[0012] Among them, the value of s0 is 0, indicating that the steel pipe position is calculated starting from the inlet A0, d is the distance between the steel pipe head and the roller table inlet, v n is the actual feedback speed of the nth section of the roller table, r n is the speed coefficient of the nth section of the roller table, m represents a total of m sections of the roller table, and m and n are integers.

[0013] Preferably, the roller table speed coefficient is set according to the relative sliding between the steel pipe material and the roller table surface, resulting in a deviation. The speed coefficient of the nth section of the roller table is obtained by testing and fitting according to the actual conditions of the nth section of the roller table.

[0014] Preferably, the key discrete point tracking logic of the micro-tracking of the steel pipe material roller table based on the hot and cold detection signals between different sections of the roller table means that when there are m sections of the roller table between the inlet and the outlet, where m > 1, through the trigger signals of the sequentially arranged hot and cold detections A1, A2... A m-1 the information on the steel pipe head reaching each discrete point is obtained.

[0015] Preferably, the correction of the continuous linear tracking position according to the discrete point correction signal within the limited window distance means that within the set limited window distance, at the moment when the point signal is triggered, d is corrected, as shown in Equation (2):

[0016] d' = s n + ∫r n v n dt (2)

[0017] Among them, s n represents the distance between the roller table inlet and the correction point A n and d' represents the predicted position after correction.

[0018] Preferably, the correction within the limited window distance means that if a certain point signal is triggered, and there is a predicted position of a certain steel pipe head within the limited window distance d n of this point A n as shown in Equation (3):

[0019] sn -d nl ≤ d ≤ s n +d nr (3)

[0020] Then, the predicted position d of the steel pipe is corrected; where d nl and d nr The distance between them is the range of d n .

[0021] Preferably, the defined window distance d n is calculated respectively according to the speeds of the left and right roller paths, as shown in Equation (4):

[0022] d nl = Δt * r n v n d nr = Δt * r n+1 v[[ID=�5]] n+1 (4)

[0023] where Δt is the interval time, which is related to the sensitivity of the hot and cold detection components and is set for each discrete point according to the actual production situation on site.

[0024] The beneficial effects brought by the technical solution provided by the embodiment of the present invention at least include:

[0025] The real-time roller path position micro-tracking method for steel pipe materials provided by the present invention realizes the micro-tracking of the roller path of steel pipe materials through a speed integration model and a correction signal. The steel pipes move sequentially on the transport roller path, and the goal of micro-tracking is to obtain the accurate position of each steel pipe on the roller path at each moment. The method of the present invention realizes the automatic tracking of the steel pipe materials on the roller path through continuous position prediction and discrete point position correction, with clear logic, high accuracy and reliability, and is easy to maintain without modifying the original production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0027] Figure 1 is the flowchart of the real-time roller path position micro-tracking method for steel pipe materials provided by the embodiment of the present invention;

[0028] Figure 2 is the schematic diagram of the micro-tracking process of steel pipe materials provided by the embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] Next, in combination with the accompanying drawings in the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0030] An embodiment of the present invention provides a real-time roller path position micro-tracking method for steel pipe materials, as Figure 1 shown, the method includes the following steps:

[0031] S1: Establish a continuous straight-line tracking logic for micro-tracking the roller path of steel pipe materials based on the roller path entrance signal, the roller path exit signal, and the speed integration model;

[0032] S2: Establish a key discrete point position tracking logic for micro-tracking the roller path of steel pipe materials based on the hot and cold inspection signals between different sections of the roller path;

[0033] S3: Within the limited window distance, correct the continuous straight-line tracking position according to the discrete point position correction signal.

[0034] As Figure 2 shown, in the embodiment of the present invention, between two steel pipe materials numbered X-1 and X-2 from the heating furnace to the piercing mill, they are transported through a total of 4 sections of roller paths, namely 1#, 2#, 3#, and 4#. The establishment of the continuous straight-line tracking logic for micro-tracking the roller path of steel pipe materials based on the roller path entrance signal, the roller path exit signal, and the speed integration model means calculating the predicted position of the steel pipe head between the roller path entrance and the roller path exit according to the actual feedback speed of the roller path, as shown in formula (1-1):

[0035] d = ∫r n v n dt, 1 ≤ n ≤ 4 (1-1)

[0036] where d is the distance between the steel pipe head and the roller path entrance, v n is the actual feedback speed of the nth section of the roller path, and r n is the speed coefficient of the nth section of the roller path. The values of the 4 sections of the roller path are as follows.

[0037]

[0038] Furthermore, the roller path speed coefficient is set according to the relative sliding between the steel pipe material and the roller path surface, resulting in a deviation. The speed coefficient r n of the nth section of the roller path is obtained by testing and fitting according to the actual conditions of the nth section of the roller path.

[0039] Furthermore, the key discrete point tracking logic for establishing micro-tracking of steel pipe material rollers based on the hot and cold detection signals between different sections of rollers means that when there are m (m=4) sections of rollers between the entrance and the exit, the trigger signals of the hot and cold detection A1, A2, and A3 arranged in sequence between the rollers are used to obtain information about the arrival of the steel pipe head at each discrete point.

[0040] Furthermore, the correction of the continuous straight line tracking position according to the discrete point correction signal within the limited window distance refers to correcting d at the moment the point signal is triggered within the set limited window distance, as shown in formula (2):

[0041] d'=s n +∫r n v n dt (2)

[0042] Among them, d' represents the predicted position after correction, s n Indicates roller entrance and correction point A n The distance between them is as follows.

[0043]

[0044] Furthermore, the correction within the limited window distance means that if a certain point signal is triggered and there is a predicted position of a certain steel pipe head at the point A n The limited window distance d n Within the range, as shown in formula (3):

[0045] s n -d nl ≤d≤s n +d nr (3)

[0046] Then the predicted position d of the steel pipe is corrected. nl with d nr The distance between them is d n range.

[0047] Furthermore, the limited window distance d n , calculated according to the speed of the left and right rollers, as shown in formula (4):

[0048] d nl =Δt*r n v n , d nr =Δt*r n+1 v n+1 (4)

[0049] Among them, Δt is the interval time, which is related to the sensitivity of the thermal and cold detection components. According to the actual production situation on site, it is set for each discrete point respectively, and the values are as follows.

[0050]

[0051] In the embodiment of the present invention, the micro-tracking of the steel pipe material on the roller path is realized through the speed integration model and the correction signal. The steel pipes move sequentially on the transport roller path. The goal of micro-tracking is to obtain the accurate position of each steel pipe on the roller path at each moment. The method of the present invention realizes the automatic tracking of the steel pipe material on the roller path through continuous position prediction and discrete point position correction, with clear logic, high accuracy and reliability, and is easy to maintain without modifying the original production line.

[0052] It should be noted that in this article, the terms "including", "comprising" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or terminal device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or terminal device including the said element.

[0053] When referring to "an embodiment", "embodiment", "exemplary embodiment", "some embodiments" and the like in the specification, it indicates that the said embodiment may include specific features, structures or characteristics, but not necessarily every embodiment includes the specific feature, structure or characteristic. Additionally, when combining an embodiment to describe a specific feature, structure or characteristic, implementing such feature, structure or characteristic in combination with other embodiments (whether explicitly described or not) should be within the knowledge of those skilled in the relevant art.

[0054] Generally, the terms can be understood at least in part from their use in the context. For example, at least in part depending on the context, the term "one or more" used herein can be used to describe any feature, structure or characteristic in a singular sense, or can be used to describe a combination of features, structures or characteristics in a plural sense. Additionally, the term "based on" can be understood as not necessarily intended to convey a set of exclusive factors, but rather can alternatively, at least in part depending on the context, allow for the existence of other factors that are not necessarily explicitly described.

[0055] The present invention covers any alternatives, modifications, equivalent methods, and solutions made to the essence and scope of the present invention. To enable the public to have a thorough understanding of the present invention, specific details are described in detail in the following preferred embodiments of the present invention, and those skilled in the art can fully understand the present invention without the description of these details. Additionally, well-known methods, processes, procedures, components, and circuits, etc. are not described in detail to avoid unnecessary confusion to the essence of the present invention.

[0056] Those of ordinary skill in the art can understand that all or part of the steps in implementing the above-described embodiment methods can be completed by instructing relevant hardware through a program, and this program can be stored in a computer-readable storage medium, such as: ROM / RAM, magnetic disks, optical discs, etc.

[0057] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A real-time roller path position micro-tracking method for steel pipe materials, characterized in that It includes the following steps: S1: Establish the micro-tracking continuous linear tracking logic of the steel pipe material roller path based on the roller path inlet signal, roller path outlet signal, and speed integration model; The establishment of the micro-tracking continuous linear tracking logic of the steel pipe material roller path based on the roller path inlet signal, roller path outlet signal, and speed integration model means calculating the predicted position of the steel pipe head between the roller path inlet and the roller path outlet according to the actual feedback speed of the roller path, as shown in Equation (1): d = s0 + ∫r n v n dt, 1 ≤ n ≤ m (1) Among them, the value of s0 is 0, indicating that the position of the steel pipe is calculated starting from the entrance A0, d is the distance between the head of the steel pipe and the entrance of the roller table, v n is the actual feedback speed of the nth section of the roller table, r n is the speed coefficient of the nth section of the roller table, m represents that there are m sections of roller tables in total, and m and n are integers; S2: Establish the key discrete point tracking logic of the micro-tracking of the steel pipe material roller path based on the hot and cold detection signals between different sections of the roller path; S3: Within a limited window distance, correct the continuous linear tracking position according to the discrete point correction signal; The correction of the continuous linear tracking position according to the discrete point correction signal within the limited window distance means that within the set limited window distance, at the moment when the point signal is triggered, correct d, as shown in Equation (2): d' = s n + ∫ r n v n dt (2) where s n represents the distance between the roller table entrance and the correction point A n and d' represents the predicted position after correction.

2. The real-time roller path position micro-tracking method for steel pipe materials according to claim 1, characterized in that, The roller path speed coefficient is set due to the relative sliding between the steel pipe material and the roller path surface resulting in deviation. The speed coefficient of the nth section of the roller path is obtained by testing and fitting according to the actual conditions of the nth section of the roller path.

3. The real-time roller path position micro-tracking method for steel pipe materials according to claim 1, characterized in that, The key discrete point tracking logic for establishing the micro-tracking of the steel pipe material roller table based on the hot and cold detection signals between different sections of the roller table means that when there are m sections of roller tables between the inlet and the outlet, where m > 1, through the trigger signals of the sequentially arranged hot and cold detectors A1, A2... A m-1 , the information on the arrival of the steel pipe head at each discrete point is obtained.

4. The real-time roller path position micro-tracking method for steel pipe materials according to claim 1, characterized in that, The correction within the limited window distance means that if a point signal is triggered and there is a predicted position of the head of a certain steel pipe at point A n within the limited window distance d n as shown in Equation (3): s n -d nl -d ≤ d ≤ s n +d nr (3) Then correct the predicted position d of the steel pipe; where d nl and d nr The distance between them is the range of d n .

5. The real-time roller path position micro-tracking method for steel pipe materials according to claim 4, characterized in that The defined window distance d n , is calculated according to the speeds of the left and right roller paths respectively, as shown in Equation (4): d nl = Δt * r n v n ,d nr = Δt * r n+1 v n+1 (4) Among them, Δt is the interval time, which is related to the sensitivity of the hot and cold detection components, and is set separately for each discrete point according to the actual production situation on site.

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