Method and system for positioning a stripping car
By calculating the offset and target values of the unloading car, the stopping position of the unloading car is controlled, which solves the problem that the unloading car cannot be accurately positioned at the center of the handover saddle and reduces the risk of steel coils falling.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SHANDING YUNKE INFORMATION TECHNOLOGY CO LTD
- Filing Date
- 2023-06-29
- Publication Date
- 2026-05-19
AI Technical Summary
When transporting finished steel coils, the unloading truck cannot accurately position itself at the center of the handover saddle, which increases the chance of the steel coil falling off.
By obtaining the roll width, the distance from the center of the transfer saddle to the position detection module, and the distance from the side of the roll to the position detection module, the offset value is calculated, and the target value and stopping position of the unloading car are controlled to make the center of the roll coincide with the center of the transfer saddle.
This reduces the chance of steel coils falling during transportation and ensures that the coils are accurately unloaded to the center of the handover saddle.
Smart Images
Figure CN116588711B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of vehicle positioning technology, and in particular to a positioning method and system for unloading a coil car. Background Technology
[0002] Two unloading trolleys are located at the exit area of the galvanizing line in the steel rolling mill. These trolleys are primarily used to unload finished steel coils from the coiler mandrel. During the coiler's tail-end sequence, the unloading trolleys move under the mandrel and wait for the tail-end to finish. After the tail-end, the unloading trolleys unload the steel coils. During the tail-end process, the strip edge position control system (EPC) continuously adjusts the mandrel position, resulting in a different center of gravity for each finished steel coil after it lands on the unloading trolley. Because the unloading trolley's coil-receiving direction is parallel to the mandrel and its receiving area is sufficiently large, the coils with shifted centers of gravity can be safely transported to the transfer saddle.
[0003] However, during the movement of the unloading car towards the transfer saddle, the movement of the unloading car is controlled by collecting the movement position of the unloading car through laser ranging, so that the movement distance of the unloading car is fixed. However, since the center of gravity of the finished steel coils after falling onto the unloading car is different, it cannot be placed in the center of the unloading car saddle every time. Therefore, the finished steel coils transported to the transfer saddle cannot fall into the center of the transfer saddle, which increases the probability of the steel coils falling off during subsequent operation. Summary of the Invention
[0004] This application provides a method and system for positioning a roll unloading vehicle to solve the problem that the roll material cannot fall to the center of the handover saddle.
[0005] Firstly, this application provides a method for positioning a coil unloading vehicle, including:
[0006] Obtain the width of the roll material after it has been unloaded onto the unloading vehicle;
[0007] The unloading car is controlled to move from an initial position to an end position; the initial position is the unloading position when the coil is unloaded onto the unloading car, and the end position is the position where the handover saddle is located.
[0008] When the unloading car reaches the endpoint, a first distance and a second distance are obtained respectively; the first distance is the distance from the center of the handover saddle to the position detection module, and the second distance is the distance from the side of the roll material to the position detection module;
[0009] The offset value of the roll on the junction saddle is calculated based on the width of the roll, the first distance, and the second distance;
[0010] Calculate the target value of the unloading car based on the offset value;
[0011] The unloading carriage is controlled to move to a first position, which is between the initial position and the final position;
[0012] When the unloading car reaches the first position, control the unloading car to move towards the end position;
[0013] Based on the target value, control the stopping position of the unloading car so that the center of the roll material coincides with the center of the transfer saddle.
[0014] Optionally, obtaining the width of the roll after it has been unloaded onto the unloading trolley includes:
[0015] Obtain several width values of the roll material before slitting;
[0016] The average of several width values is taken to obtain the uncut width of the roll material, which is equal to the width of the roll material.
[0017] Optionally, calculating the offset value of the roll material on the junction saddle based on the width of the roll material, the first distance, and the second distance includes:
[0018] The offset value is calculated using the following formula:
[0019] P = a - X + W / 2;
[0020] Where P is the offset value, X is the first distance, a is the second distance, and W is the width of the roll material.
[0021] Optionally, calculating the target value of the unloading car based on the offset value includes:
[0022] The target value is calculated using the following formula:
[0023] T = S + P;
[0024] Where T is the target value, S is the distance from the initial position to the end position, and P is the offset value.
[0025] Optional, also includes:
[0026] Determine whether the coil material is present on the unloading vehicle;
[0027] If the unloading car contains the coil material, then control the unloading car to continue moving;
[0028] If the unloading car does not have the roll material, the unloading car is controlled to return to the initial position until the roll material is on the unloading car.
[0029] Optionally, the first distance is a fixed value.
[0030] Secondly, this application provides a coil unloading car positioning system applied to the coil unloading car positioning method provided in the first aspect above. The system includes: a width detection module, a position detection module, a distance detection module, a control module, and a communication module; the communication module is communicatively connected to the width detection module, the position detection module, the distance detection module, and the control module, respectively.
[0031] The control module is used to acquire the width, first distance, second distance, initial position, end position, and first position of the roll material, as well as...
[0032] The offset value of the roll on the junction saddle is calculated based on the width of the roll, the first distance, and the second distance;
[0033] Calculate the target value of the unloading car based on the offset value;
[0034] Control the unloading car to move to the first position;
[0035] When the unloading car reaches the first position, control the unloading car to move towards the end position;
[0036] Based on the target value, control the stopping position of the unloading car;
[0037] The width detection module is used to obtain the width of the roll material and send the width of the roll material to the control module;
[0038] The position detection module is used to acquire a first distance and a second distance, and send the first distance and the second distance to the control module;
[0039] The distance detection module is used to obtain the initial position, the end position, and the first position of the roll material, and send the initial position, the end position, and the first position to the control module;
[0040] The communication module is used for data transmission.
[0041] Optionally, a detection module is also included, which is communicatively connected to the control module and is used to detect whether the roll material is present on the unloading car.
[0042] As can be seen from the above technical solution, this application provides a method and system for positioning a coil unloading vehicle. The method includes: obtaining the width of the coil after it is unloaded onto the coil unloading vehicle; controlling the coil unloading vehicle to move from the unloading position to the position of the transfer saddle; when the coil unloading vehicle reaches the position of the transfer saddle, obtaining the distance from the center of the transfer saddle to the position detection module and the distance from the side of the coil to the position detection module; calculating the offset value of the coil on the transfer saddle based on the width of the coil, the distance from the center of the transfer saddle to the position detection module, and the distance from the side of the coil to the position detection module; calculating the target value of the coil unloading vehicle based on the offset value; controlling the coil unloading vehicle to move in the direction of the unloading position, and after moving a certain distance, controlling the coil unloading vehicle to move towards the transfer saddle; and controlling the stopping position of the coil unloading vehicle according to the target value so that the center of the coil coincides with the center of the transfer saddle. The coil unloading vehicle positioning method provided by this application can solve the problem that the coil cannot fall to the center of the transfer saddle, reducing the probability of the coil falling. Attached Figure Description
[0043] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0044] Figure 1 A flowchart of the unloading car positioning method provided in this application;
[0045] Figure 2 A schematic diagram of the unloading truck positioning system provided in this application;
[0046] Figure 3 This is a schematic diagram of the positioning system for the unloading vehicle provided in this application. Detailed Implementation
[0047] The embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described below do not represent all embodiments consistent with this application. They are merely examples of systems and methods consistent with some aspects of this application as detailed in the claims.
[0048] During the uncoiling process, the strip edge position control system (EPC) adjusts the mandrel position, ensuring that the center of gravity of each finished steel coil lands on the uncoiling trolley at a different position. Because the uncoiling trolley's receiving direction is parallel to the mandrel and its receiving area is large enough, it can safely transport the coils with shifted centers of gravity to the transfer saddle. However, during the uncoiling trolley's movement towards the transfer saddle, the movement distance is fixed due to the laser ranging system tracking its position. Since the center of gravity of the finished steel coils varies after landing on the uncoiling trolley, they cannot always be placed in the center of the saddle. Therefore, the finished steel coils transported to the transfer saddle may not land in the center, increasing the likelihood of them falling off during subsequent operation.
[0049] To address the aforementioned problems, some embodiments of this application first provide a method for positioning a coil unloading vehicle, such as... Figure 1 As shown, Figure 1 A flowchart of the unloading car positioning method provided in this application, the method comprising:
[0050] S100: Obtain the width of the roll material after it has been unloaded onto the unloading trolley.
[0051] Obtaining the width of the roll material after it has been unloaded onto the unloading trolley includes:
[0052] S110: Obtain several width values of the roll material before slitting.
[0053] In this embodiment, the coil material uses steel coils produced by a steel rolling mill as an example. The strip steel produced by the steel rolling mill from the production line through extrusion molding is continuous in length and needs to be cut into coils at a set length. For example, the set length of the steel coil can be 1000 meters for cutting. Before cutting, several sets of width value points are set along the 1000-meter length to record the width value. In some embodiments, the 1000-meter-long steel coil can be divided into 100 sets of width value points and the width value recorded. In some embodiments, the width value of the coil can be obtained in real time by a width measuring instrument. It should be noted that the aforementioned 100 sets of width value points can be either evenly divided into 1000-meter-long steel coils or randomly grouped.
[0054] S120: The average of several width values is taken to obtain the width of the roll material before slitting.
[0055] The width measuring instrument transmits 100 width values acquired in S110 to the production line in real time. The production line takes these values based on the strip tracking information, performs a weighted summation of the 100 width values, and calculates the average value. This average value is taken as the width of the steel coil before slitting. Since the width of the coil does not change after it is unloaded onto the unloading trolley, the width of the coil before slitting is the width W of the steel coil.
[0056] S200: Control the unloading carriage to move from the initial position to the end position.
[0057] In some embodiments, the total displacement of the unloading trolley during the unloading process is 7000mm. The initial position is set as the location below the coiler core shaft, i.e., the unloading position when the coil is unloaded onto the unloading trolley, and the coordinate value corresponding to the initial position is defined as 0mm. The position of the transfer saddle is set as the endpoint position, and the coordinate value corresponding to the endpoint position is 7000mm. Position calibration is performed at the endpoint position so that the unloading trolley always travels 7000mm when it reaches the middle of the transfer saddle. When the unloading trolley travels below the coiler core shaft during unloading, the distance detection module displays a reading of 0mm. After the unloading trolley removes the steel coil from the core shaft, it moves towards the endpoint position where the transfer saddle is located. When the unloading trolley reaches the position where the transfer saddle is located, the distance detection module displays a reading of 7000mm.
[0058] S300: When the unloading car reaches the endpoint, the first distance and the second distance are obtained respectively.
[0059] In some embodiments, a position detection module is provided at the endpoint. The system acquires the distance from the center of the handover saddle to the position detection module and the distance from the side of the roll to the position detection module, respectively. The distance from the center of the handover saddle to the position detection module is the first distance, and the distance from the side of the roll to the position detection module is the second distance. It is understood that when the position of the position detection module is fixed, the measured distance from the center of the handover saddle to the position detection module is a fixed value; therefore, the first distance is a fixed value.
[0060] S400: Calculate the offset value of the roll material on the junction saddle based on the width of the roll material, the first distance, and the second distance.
[0061] The specific steps for calculating the offset value of the roll material on the junction saddle based on the width of the roll material, the first distance, and the second distance are as follows: the offset value is calculated according to the following formula:
[0062] P = a - X + W / 2 (1)
[0063] Where P is the offset value, X is the first distance, a is the second distance, and W is the width of the roll material. It is understood that the calculated offset value P may be positive or negative, depending on the offset direction of the roll material. When the roll material is offset towards the position detection module, P is negative; when the roll material is offset away from the position detection module, P is positive.
[0064] S500: Calculate the target value of the unloading car based on the offset value.
[0065] The theoretical distance S from the initial position when the coil on the unloading trolley stops precisely at the center of the transfer saddle is used to sum the theoretical distance S with the offset value P calculated in S400 above, and then the target value can be reassigned to the unloading trolley. It can be understood that the theoretical distance from the initial position when the coil on the unloading trolley stops precisely at the center of the transfer saddle is the distance from the end position to the initial position, i.e., S = 7000 mm. Specifically, the target value is calculated according to the following formula:
[0066] T = S + P (2)
[0067] Where T is the target value, S is the distance from the initial position to the final position, and P is the offset value. Substituting equation (1) into equation (2), we get T = S + a - X + W / 2. After determining that the speed of the unloading car is 0 m / s, the system will calculate the target value T of the unloading car. The calculated target value T is the actual stopping position of the unloading car when the center of the roll material on the unloading car coincides with the center of the transfer saddle.
[0068] S600: Control the unloading car to move to the first position.
[0069] After calculating the target value T of the unloading car, the unloading car is controlled to move back in the direction of the starting position to reach the first position. It can be understood that the first position is between the initial position and the end position. In some embodiments, the first position can be set to the position where the reading displayed by the distance detection module is 6000mm.
[0070] S700: When the unloading car reaches the first position, control the unloading car to move towards the end position.
[0071] Understandably, in the S300, the stopping position of the unloading car is only used to obtain the distance from the side of the coil to the position detection module for subsequent calculation of the target value T. The process of the unloading car moving from the first position to the end position is to correct the stopping position of the unloading car.
[0072] S800: Based on the target value, control the stopping position of the unloading car so that the center of the roll material coincides with the center of the transfer saddle.
[0073] As the unloading car moves toward the destination, the system will reassign the unloading car to the calculated target value T, and control the unloading car to stop after reaching the target value T, lower the unloading car, and place the steel coil on the transfer saddle. At this time, the center of the steel coil on the unloading car coincides with the center of the transfer saddle.
[0074] In some embodiments, the coil unloading car positioning method provided in this application further includes:
[0075] Determine whether the coil material is present on the unloading vehicle;
[0076] If the unloading car contains the coil material, then control the unloading car to continue moving;
[0077] If the unloading car does not have the roll material, the unloading car is controlled to return to the initial position until the roll material is on the unloading car.
[0078] During transport, if the center of gravity of the steel coil deviates significantly from the center of the unloading car's saddle, there is a risk of the coil falling off. If the coil falls, subsequent calculations and corrections cannot be performed. Therefore, in some embodiments, a detection module is installed to determine whether the unloading car has a steel coil on it as it moves from the starting point to the ending point. If a coil is detected, the unloading car continues to move towards the ending point for subsequent calculations and corrections. If no coil is detected, the unloading car returns to its initial position, unloads the coil from the winding machine's core shaft, and moves towards the ending point again until a coil is detected on it, at which point the unloading car continues to move.
[0079] This application also provides a coil unloading car positioning system in some embodiments, applied to the above-described coil unloading car positioning method, such as... Figure 2 and Figure 3 As shown, Figure 2 This is a schematic diagram of the coil unloading vehicle positioning system provided in this application. Figure 3 The diagram below shows the structure of the unloading car positioning system provided in this application. The system includes: a width detection module, a position detection module, a distance detection module, a control module, and a communication module. The communication module is communicatively connected to the width detection module, the position detection module, the distance detection module, and the control module.
[0080] The control module is used to acquire the width, first distance, second distance, and first position of the roll material, as well as...
[0081] The offset value of the roll material on the junction saddle is calculated based on the width of the roll material, the first distance, and the second distance.
[0082] Calculate the target value for the unloading car based on the offset value;
[0083] Control the unloading car to move to the first position;
[0084] When the unloading car reaches the first position, control the unloading car to move towards the end position;
[0085] Control the stopping position of the unloading car according to the target value.
[0086] In some embodiments, the control module may employ a Siemens 400 series controller. The Siemens 400 series controller processes the acquired width, first distance, and second distance of the coil material to calculate the offset value of the steel coil on the unloading trolley at the transfer saddle. Based on this offset value, it calculates the target value for the unloading trolley. After controlling the unloading trolley's reciprocating movement, the calculated target value is assigned to the unloading trolley as its final stopping position, thereby ensuring precise unloading of the coil material onto the center of the transfer saddle. It should be noted that the unloading trolley is equipped with a variable frequency motor, and the control module controls the movement and stopping of the unloading trolley by controlling the starting and stopping of the variable frequency motor.
[0087] The width detection module is used to acquire the width of the roll material and send the width of the roll material to the control module. In some embodiments, the width detection module may be a width measuring instrument, which is located near the mandrel of the winding machine and can measure the width of the roll material.
[0088] The position detection module is used to acquire a first distance and a second distance, and send the first distance and the second distance to the control module. In some embodiments, the position detection module may employ an ultrasonic position detector, which is located near the transfer saddle and can acquire the distance from the center of the transfer saddle to the ultrasonic position detector, as well as the distance from the side of the roll on the unloading trolley to the ultrasonic position detector.
[0089] The distance detection module is used to acquire the initial position, end position, and first position of the roll material, and send these positions to the control module. In some embodiments, the distance detection module may be a laser rangefinder, which is mounted on the unloading trolley and runs alongside it to acquire the real-time position of the unloading trolley.
[0090] The communication module is used for data transmission. In some embodiments, the communication module may use Profibus DP communication, which can wirelessly acquire information collected by the width measuring instrument, ultrasonic position detector, and laser rangefinder, and transmit the information to the control module.
[0091] In some embodiments, the unloading carriage positioning system provided in this application further includes a detection module, which is communicatively connected to the control module. The detection module is used to detect whether there is a roll of material on the unloading carriage. In some embodiments, the detection module may employ a grating, which is disposed between the unloading position of the roll of material and the transfer saddle. During the process of the unloading carriage moving from the unloading position to the transfer saddle, the presence of a roll of material on the unloading carriage can be detected.
[0092] As can be seen from the above technical solution, the embodiments of this application provide a method and system for positioning a coil unloading vehicle. The method includes: obtaining the width of the coil after it is unloaded onto the coil unloading vehicle; controlling the coil unloading vehicle to move from the unloading position to the position of the transfer saddle; when the coil unloading vehicle reaches the position of the transfer saddle, obtaining the distance from the center of the transfer saddle to the position detection module and the distance from the side of the coil to the position detection module; calculating the offset value of the coil on the transfer saddle based on the width of the coil, the distance from the center of the transfer saddle to the position detection module, and the distance from the side of the coil to the position detection module; calculating the target value of the coil unloading vehicle based on the offset value; controlling the coil unloading vehicle to move in the direction of the unloading position, and after moving a certain distance, controlling the coil unloading vehicle to move towards the transfer saddle; and controlling the stopping position of the coil unloading vehicle according to the target value so that the center of the coil coincides with the center of the transfer saddle. The coil unloading vehicle positioning method provided by this application can solve the problem that the coil cannot fall to the center of the transfer saddle, reducing the probability of the coil falling.
[0093] Similar parts between the embodiments provided in this application can be referred to mutually. The specific implementation methods provided above are only a few examples under the overall concept of this application and do not constitute a limitation on the scope of protection of this application. For those skilled in the art, any other implementation methods extended from the solution of this application without creative effort shall fall within the scope of protection of this application.
Claims
1. A method for positioning a coil unloading car, characterized in that, include: Obtain the width of the roll material after it has been unloaded onto the unloading vehicle; Control the unloading carriage to move from the initial position to the end position; The initial position is the unloading position when the coil is unloaded onto the unloading car, and the final position is the position where the handover saddle is located. When the unloading car reaches the endpoint, a first distance and a second distance are obtained respectively; the first distance is the distance from the center of the handover saddle to the position detection module, and the second distance is the distance from the side of the roll material to the position detection module; The offset value of the roll on the junction saddle is calculated based on the width of the roll, the first distance, and the second distance; Calculate the target value of the unloading car based on the offset value; The unloading carriage is controlled to move to a first position, which is between the initial position and the final position; When the unloading car reaches the first position, control the unloading car to move towards the end position; Based on the target value, control the stopping position of the unloading car so that the center of the roll material coincides with the center of the transfer saddle.
2. The positioning method for the unloading car according to claim 1, characterized in that, The process of obtaining the width of the roll material after it has been unloaded onto the unloading vehicle includes: Obtain several width values of the roll material before slitting; The average of several width values is taken to obtain the uncut width of the roll material, which is equal to the width of the roll material.
3. The positioning method for the unloading car according to claim 1, characterized in that, The step of calculating the offset value of the roll material on the junction saddle based on the width of the roll material, the first distance, and the second distance includes: The offset value is calculated using the following formula: P = a - X + W / 2; Where P is the offset value, X is the first distance, a is the second distance, and W is the width of the roll material.
4. The positioning method for the unloading car according to claim 1, characterized in that, The step of calculating the target value of the unloading car based on the offset value includes: The target value is calculated using the following formula: T = S + P; Where T is the target value, S is the distance from the initial position to the end position, and P is the offset value.
5. The positioning method for the unloading car according to claim 1, characterized in that, Also includes: Determine whether the coil material is present on the unloading vehicle; If the unloading car contains the coil material, then control the unloading car to continue moving; If the unloading car does not have the roll material, the unloading car is controlled to return to the initial position until the roll material is on the unloading car.
6. The positioning method for the unloading car according to claim 1, characterized in that, The first distance is a fixed value.
7. A positioning system for a coil unloading vehicle, characterized in that, The system applied to the unloading car positioning method according to any one of claims 1-6 includes: a width detection module, a position detection module, a distance detection module, a control module, and a communication module; the communication module is communicatively connected to the width detection module, the position detection module, the distance detection module, and the control module, respectively. The control module is used to acquire the width, first distance, second distance, initial position, end position, and first position of the roll material, as well as... The offset value of the roll on the junction saddle is calculated based on the width of the roll, the first distance, and the second distance; Calculate the target value of the unloading car based on the offset value; Control the unloading car to move to the first position; When the unloading car reaches the first position, control the unloading car to move towards the end position; Based on the target value, control the stopping position of the unloading car; The width detection module is used to obtain the width of the roll material and send the width of the roll material to the control module; The position detection module is used to acquire a first distance and a second distance, and send the first distance and the second distance to the control module; The distance detection module is used to obtain the initial position, the end position, and the first position of the roll material, and send the initial position, the end position, and the first position to the control module; The communication module is used for data transmission.
8. The coil unloading car positioning system according to claim 7, characterized in that, It also includes a detection module, which is communicatively connected to the control module, and is used to detect whether the roll material is present on the unloading car.