Automatic centering method for double-sided shearing steel plate based on laser ranging

Abstract

The application provides a kind of bilateral shear steel plate automatic centering method based on laser ranging, belongs to metal processing and visual detection technical field.The method comprises: step 1, a set of ranging equipment is respectively installed at each magnetic head position in the cutting area of bilateral shear, and the distance between the ranging equipment and the edges of the two sides of the rollway is calibrated using a rectangular calibration block;Step 2, after the steel plate enters the centering rollway, the head of the steel plate is stopped at the hot detection position controlled by the hot detection signal, and the target cutting allowance of the two sides of the steel plate is determined according to the distance from the ranging equipment to the edges of the two sides of the steel plate output by the selected ranging equipment and the calibrated distance, and the moving direction and distance of the magnetic head required for the centering of the steel plate are further determined;Step 3, according to the determined moving direction and distance required for the centering of the steel plate, the magnetic head is controlled to be lifted and moved, and the moving distance of the steel plate is detected in real time, and the centering process is completed after the magnetic head is controlled to stop to meet the centering requirement.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of metal processing and visual detection, in particular to a double-sided shear steel plate automatic centering method based on laser ranging. BACKGROUND

[0002] The double-sided shear process position needs to center the steel plate with the positions of the two sides of the shear, so that the shear can be on the steel plate, and the shear allowance on both sides of the steel plate is as same as possible. This process currently mainly relies on manual visual judgment of the two laser lines emitted from the shear position to determine the position and allowance, which not only has low work efficiency, but also causes damage to the human vision after long time work.

[0003] The currently disclosed double-sided shear automatic control centering method is mostly based on machine vision, which positions the relative position of the steel plate edge and the shear through the camera image acquisition mode, thereby completing the function of automatic centering of the steel plate. This method achieves the automatic centering task of the steel plate to a certain extent, but still has the following problems:

[0004] Firstly, the camera image shooting is easily disturbed by the ambient light, and in addition, the robustness of the edge accurate identification is insufficient for different plate surface backgrounds;

[0005] Secondly, the edge of the steel plate is not a standard plane, but a protruding arc surface, and the definition of the edge is not clear in the imaging process;

[0006] Finally, the position of the camera after calibration is greatly affected by the thickness of the steel plate, and additional calculation is needed to eliminate the influence. SUMMARY

[0007] The embodiment of the present application provides a double-sided shear steel plate automatic centering method based on laser ranging, which can obtain more accurate double-sided shear allowance value and moving distance value, and realizes automatic accurate centering operation of the double-sided shear steel plate.

[0008] The double-sided shear steel plate automatic centering method based on laser ranging provided by the embodiment of the present application comprises:

[0009] Step 1, a set of ranging devices are respectively installed at each magnetic head position of the double-sided shear cutting area, and the distance between the ranging devices and the edges of the two sides of the roller is calibrated by using a rectangular calibration block; wherein each set of ranging devices comprises two laser ranging sensors, which are respectively installed on the fixed side and the moving side of the roller;

[0010] Step 2, after the steel plate enters the centering roller, the head of the steel plate is stopped at the hot inspection position controlled by the hot inspection signal, the target shearing allowance of the two sides of the steel plate is determined according to the distance from the selected distance measuring device to the edges of the two sides of the steel plate and the distance from the calibrated distance measuring device to the edges of the two sides of the roller, and the moving direction and distance of the magnetic head required for the centering of the steel plate are determined according to the obtained target shearing allowance of the two sides of the steel plate.

[0011] Step 3, according to the determined moving direction and distance required for the centering of the steel plate, the magnetic head is controlled to move up and the moving distance of the steel plate is detected in real time, and the centering process is completed after the magnetic head is controlled to stop to meet the centering requirement.

[0012] Further, the distance measuring device is installed on a bracket capable of moving up and down, the initial height is the same as the height of the roller, and after the steel plate enters the centering roller, the distance measuring device is raised to the same height as the center of the thickness direction of the steel plate.

[0013] Further, in step 2, when more than 2 groups of distance measuring devices have distance value output, only the output of the nearest and the farthest group of distance measuring devices is used to guide the movement of the corresponding magnetic head, and the other magnetic heads remain stationary; when only 2 groups of distance measuring devices have distance value output, the output of the two groups of distance measuring devices is used to guide the movement of the corresponding magnetic head, and the other magnetic heads remain stationary; when less than 2 groups of distance measuring devices have distance value output, an alarm is given for manual intervention.

[0014] Further, after the steel plate enters the centering roller, the head of the steel plate is stopped at the hot inspection position controlled by the hot inspection signal, the target shearing allowance of the two sides of the steel plate is determined according to the distance from the selected distance measuring device to the edges of the two sides of the steel plate and the distance from the calibrated distance measuring device to the edges of the two sides of the roller, and the moving direction and distance of the magnetic head required for the centering of the steel plate are determined according to the obtained target shearing allowance of the two sides of the steel plate.

[0015] After the steel plate enters the centering roller, the head of the steel plate is stopped at the hot inspection position controlled by the hot inspection signal, the target shearing allowance of the two sides of the steel plate is determined according to the distance from the selected distance measuring device to the edges of the two sides of the steel plate, the distance from the calibrated distance measuring device to the edges of the two sides of the roller, the distance from the fixed side shears to the edge of the fixed side roller, and the planned width of the steel plate shearing, and the profile data of the steel plate is used as a reference, and the moving direction and distance of the magnetic head required for the centering of the steel plate are determined according to the obtained target shearing allowance of the two sides of the steel plate.

[0016] Further, after the steel plate enters the centering roller, the head of the steel plate is stopped at the hot inspection position controlled by the hot inspection signal. The target cutting allowance on both sides of the steel plate is determined according to the distance from the selected ranging device to the edges of the steel plate on both sides, the distance from the calibrated ranging device to the edges of the roller on both sides, the distance from the fixed side shear to the edge of the fixed side roller, the planned cutting width of the steel plate, and the profile data of the steel plate as a reference. According to the target cutting allowance on both sides of the steel plate, the moving direction and distance of the magnetic head required for centering the steel plate are determined, including:

[0017] A1, after the steel plate enters the centering roller, the head of the steel plate is stopped at the hot inspection position controlled by the hot inspection signal. The initial fixed side steel plate cutting allowance and the initial moving side steel plate cutting allowance are determined according to the distance from the selected ranging device to the edges of the steel plate on both sides, the distance from the calibrated ranging device to the edges of the roller on both sides, the distance from the fixed side shear to the edge of the fixed side roller, and the planned cutting width of the steel plate, and the profile data of the steel plate as a reference. and respectively. and respectively.

[0018]

[0019]

[0020] wherein, and respectively, are the distances from the fixed side laser ranging sensor to the edge of the fixed side roller and the distance from the moving side laser ranging sensor to the edge of the moving side roller of the roller, which are calibrated by placing rectangular calibration blocks at the left and right boundaries of the i-th magnetic head roller. is the distance from the fixed side laser ranging sensor to the fixed side edge of the steel plate output by the fixed side laser ranging sensor. is the distance from the moving side laser ranging sensor to the moving side edge of the steel plate output by the moving side laser ranging sensor. t is the planned cutting width of the steel plate; w is the width of the roller; d b is the distance from the fixed side shear to the edge of the fixed side roller.

[0021] A2, the single-side minimum cutting allowance required when cutting the steel plate is μ, and the target allowance space on the fixed side of the steel plate at the i-th magnetic head position is and the corresponding target allowance space on the moving side is

[0022] A3, discretize the target residual space into groups of target shearing residual with 1mm as a unit, traverse each group of target shearing residual, take the target shearing residual of the fixed side and the distance from the ranging device to the hot check position as coordinates to get the fixed side shearing line on the steel plate profile data, take the target shearing residual of the moving side and the distance from the ranging device to the hot check position as coordinates to get the moving side shearing line on the steel plate profile data, calculate the minimum value of the double-side shearing residual value of the profile data of both sides of the steel plate relative to the two shearing lines along the length direction of the steel plate and save it;

[0023] A4, take the maximum value of the data saved in step A3 as the target shearing residual value of the fixed side As the target of the steel plate movement, get the magnetic head movement distance β required for the centering of the steel plate i :

[0024]

[0025] Wherein, the positive and negative of β i represent the movement direction, β i >0 represents moving to the fixed side, β i <0 represents moving to the moving side.

[0026] Further, the steel plate profile data comes from the output of the profiler of the previous process and contains the left and right boundary profile coordinates at each length position of the steel plate.

[0027] Further, the control of the magnetic head lifting movement and the real-time detection of the movement distance of the steel plate according to the determined movement direction and movement distance required for the centering of the steel plate to meet the centering requirement and then control the magnetic head to stop to complete the centering process includes:

[0028] B1, send a signal to control the magnetic head to lift up, and control the ranging device to rise to the same horizontal height as the center of the thickness direction of the steel plate, take the distance from the fixed side laser ranging sensor to the fixed side edge of the steel plate output by the fixed side laser ranging sensor when the magnetic head just lifts up but has not moved as the initial value, and control the magnetic head to move according to the determined movement direction and movement distance required for the centering of the steel plate, the difference between the distance value output by the fixed side laser ranging sensor in real time and the initial value is the movement distance of the steel plate, and the magnetic head is controlled to stop when the movement distance is within the preset range;

[0029] B2, send signal control head down, while the ranging device is restored to the same level at the center of the thickness of the steel plate, the selected ranging device to the distance between the ranging device and the edge of the steel plate is determined again to determine the shear margin of the steel plate on both sides after moving, and the shear margin obtained on both sides of the steel plate and the distance from the ranging device to the hot detection position are used as coordinates to obtain two shear lines in the steel plate profile data. When the distance between the profile on both sides of the steel plate and the corresponding shear line is greater than the minimum single-sided shear margin μ, the centering requirement is met, and a centering completion signal is sent. Otherwise, the centering requirement is not met, and the operation of step 2 is returned to be executed again. If the centering requirement still cannot be met after execution, an alarm is sent for manual intervention.

[0030] Further, in step B1, when the moving distance of the steel plate is in the range of (β i -δ, β i +δ), the speed of the magnetic head is set to 0, wherein δ is a compensation value.

[0031] The technical scheme provided by the embodiment of the present application has at least the following beneficial effects:

[0032] 1) The distance between the ranging device and the edge of the steel plate output by the laser ranging sensor is used as the basis for calculating the shear margin of the steel plate, and the precision of the double-sided shear margin value obtained can reach 1mm, which has high measurement precision and provides more accurate movement distance values than the measurement equipment based on machine vision.

[0033] 2) Real-time measurement feedback during the movement of the magnetic head effectively ensures the control precision of the steel plate movement, provides more reliable automatic centering function of the double-sided shear steel plate, saves labor cost, reduces material waste, reduces manual operation cost, and improves the intelligent level of the production line. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical scheme in the embodiment of the present application, the following will briefly introduce the drawings needed in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0035] Figure 1 The flowchart of the automatic centering method of the double-sided shear steel plate based on laser ranging provided by the embodiment of the present application is shown.

[0036] Figure 2 The installation position diagram of the double-sided shear cutting area ranging device provided by the embodiment of the present application is shown.

[0037] Figure 3 The partial parameter description diagram provided by the embodiment of the present application is shown.

[0038] Figure 4 The profile data and the shearing line definition schematic diagram provided for the embodiment of the present application. DETAILED DESCRIPTION

[0039] To make the purpose, technical solutions and advantages of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the drawings.

[0040] As Figure 1 shown, the embodiment of the present application provides a double-sided shearing steel plate automatic centering method based on laser ranging, comprising:

[0041] Step 1, a set of ranging devices is respectively installed at each magnetic head position of the double-sided shearing shearing area, and the distance between the ranging device and the edge of the roller way is calibrated by using a rectangular calibration block; wherein each set of ranging devices contains two laser ranging sensors, which are respectively installed on the fixed side and the moving side of the roller way;

[0042] In the embodiment, taking a domestic iron and steel enterprise wide plate mill as an example, there are four magnetic heads in the double-sided shearing shearing area, and one laser ranging sensor (referred to as: range finder) is respectively installed on the left and right sides of the roller way at each magnetic head position, as Figure 2 shown, the laser ranging sensor is installed on a bracket with up and down step movement, and the initial height of the bracket is the same as the height of the roller way. After the steel plate enters the centering roller way, the ranging device rises to the same horizontal height as the center of the thickness direction of the steel plate, and the up and down step movement bracket is controlled by a step motor.

[0043] In the embodiment, taking No. 1 magnetic head as an example, a rectangular calibration block is placed at the left and right boundaries of the roller way to calibrate the distance from the fixed side laser ranging sensor to the fixed side edge of the roller way and the distance from the moving side laser ranging sensor to the moving side edge of the roller way.

[0044] Step 2, after the steel plate enters the centering roller way, the head of the steel plate is controlled to stop at the heat detection position by the heat detection signal, and the target shearing allowance of the two sides of the steel plate is determined according to the distance from the ranging device to the edge of the steel plate output by the selected ranging device and the calibrated distance from the ranging device to the edge of the roller way. According to the target shearing allowance of the two sides of the steel plate obtained, the moving direction and moving distance of the steel plate centering required are determined.

[0045] In this embodiment, when more than 2 groups of ranging devices have distance value output, only the output of the closest and the farthest ranging device is used to guide the movement of the corresponding head, and the other heads remain stationary; when only 2 groups of ranging devices have distance value output, the output of the two groups of ranging devices is used to guide the movement of the corresponding head, and the other heads remain stationary; when less than 2 groups of ranging devices have distance value output, an alarm is given for manual intervention.

[0046] In this embodiment, after the steel plate enters the centering roller, the head of the steel plate is stopped at the hot inspection position controlled by the hot inspection signal. The target cutting allowance on both sides of the steel plate is determined according to the distance from the selected ranging device to the edge of the steel plate, the distance from the calibrated ranging device to the edge of the roller, the distance from the fixed side shear to the edge of the fixed side roller, and the planned cutting width of the steel plate, with the steel plate profile data as a reference. According to the obtained target cutting allowance on both sides of the steel plate, the moving direction and distance of the head required for the centering of the steel plate are determined, which can specifically include the following steps:

[0047] A1, after the steel plate enters the centering roller, the head of the steel plate is stopped at the hot inspection position controlled by the hot inspection signal. The initial fixed side steel plate cutting allowance and the initial moving side steel plate cutting allowance are determined according to the distance from the selected ranging device to the edge of the steel plate, the distance from the calibrated ranging device to the edge of the roller, the distance from the fixed side shear to the edge of the fixed side roller, and the planned cutting width of the steel plate, with the steel plate profile data as a reference. Wherein, the steel plate profile data comes from the output of the profiler of the previous process, and contains the left and right boundary profile coordinates at each length position of the steel plate, and are respectively represented as:

[0048]

[0049]

[0050] Wherein, and are respectively the distance from the fixed side laser ranging sensor to the fixed side edge of the roller and the distance from the moving side laser ranging sensor to the moving side edge of the roller, which are calibrated by placing rectangular calibration blocks at the left and right edges of the i-th head roller; is the distance from the fixed side laser ranging sensor to the fixed side edge of the steel plate output by the fixed side laser ranging sensor; is the distance from the moving side laser ranging sensor to the moving side edge of the steel plate output by the moving side laser ranging sensor;w t is the planned cutting width of the steel plate; w is the width of the roller; d b ​This refers to the distance between the fixed-side shears and the fixed-side edge of the roller conveyor; the above parameters are explained as follows: Figure 3 As shown;

[0051] In this embodiment, taking the selection of magnetic heads 1 and 3 as an example, the initial shearing allowance of the fixed side steel plate for magnetic head 1 is obtained. for:

[0052]

[0053] Shear allowance for the initial moving side steel plate of magnetic head No. 1 for:

[0054]

[0055] Shear allowance for the initial fixed side steel plate of magnetic head No. 3 for:

[0056]

[0057] Shear allowance for the initial moving side steel plate of magnetic head No. 3 for:

[0058]

[0059] A2, determine the minimum shearing allowance per side required when shearing the steel plate as μ, and the target allowance space of the steel plate on the fixed side at the position of the i-th magnetic head is... The corresponding moving-side target margin space is

[0060] In this embodiment, the minimum shearing allowance on one side required during steel plate shearing is μ, and the target allowance space of the steel plate on the fixed side of the No. 1 magnetic head position is... The corresponding moving-side target margin space is The target margin space of the steel plate on the fixed side of the No. 3 magnetic head position is The corresponding moving-side target margin space is

[0061] A3, discretize the target allowance space into multiple sets of target shear allowances in units of 1mm, traverse each set of target shear allowances, use the target shear allowances of the two selected ranging devices on the fixed side and the distance from the ranging device to the hot inspection position as coordinates to obtain the fixed side shear line on the steel plate contour data, use the target shear allowances of the two selected ranging devices on the moving side and the distance from the ranging device to the hot inspection position as coordinates to obtain the moving side shear line on the steel plate contour data, calculate and save the minimum value of the bilateral shear allowance values ​​of the two shear lines relative to the two shear lines along the length of the steel plate;

[0062] In this embodiment, the target excess space is discretized into multiple groups of target shear excesses in units of 1 mm, and the following steps are performed and respectively and respectively with the distance l 1 from the No. 1 magnetic head to the hot check position 3 and the distance l 1 from the No. 3 magnetic head to the hot check position 3 Two coordinate points are constructed and The straight line formed by the above two coordinate points in the steel plate profile data is the fixed side shear line, as shown in Figure 4 .

[0063] In this embodiment, the moving side shear excesses are obtained based on the above fixed side shear excesses, and are respectively and respectively with the distance l 1 from the No. 1 magnetic head to the hot check position 3 and the distance l 1 from the No. 3 magnetic head to the hot check position 3 Two coordinate points are constructed and The straight line formed by the above two coordinate points in the steel plate profile data is the moving side shear line.

[0064] In this embodiment, the minimum value of the double-side shear excess value of the profile data on both sides of the steel plate with respect to the two shear lines along the length direction of the steel plate is calculated and saved. This is because the steel plate is not strictly rectangular, and the shear excess data at the two groups of magnetic heads is only used above, so in actual cutting, the double-side shear excess at the magnetic head position may meet the requirements, but other positions along the length direction may not meet the shear excess requirements; therefore, different excess combinations at the two magnetic head positions are set, and the shear excess of each position along the length direction of the overall steel plate is found, and the minimum shear excess value is saved, so as to find the group of excess settings that can maximize the overall double-side minimum shear excess value.

[0065] A4, taking the maximum value of the fixed side target shear excess value corresponding to the saved data in step A3 as the steel plate moving target, the magnetic head moving distance β i required for the centering of the steel plate is obtained:

[0066]

[0067] wherein the positive and negative of β i represent the moving direction, β i > 0 represents moving to the fixed side, and β i < 0 represents moving to the moving side.

[0068] In this embodiment, the maximum value of the data saved in step A3 is taken as the target shear value of the fixed side corresponding to the maximum value and As the target of the steel plate movement, the distance β of the No. 1 magnetic head required for the centering of the steel plate is obtained 1 :

[0069]

[0070] The distance β of the No. 3 magnetic head required for the centering of the steel plate is obtained 3 :

[0071]

[0072] Step 3: According to the determined moving direction and moving distance required for the centering of the steel plate, the magnetic head is controlled to move up and the moving distance of the steel plate is detected in real time, and the magnetic head is controlled to stop after meeting the centering requirement to complete the centering process. Specifically, it can include the following steps:

[0073] B1, send a signal to control the magnetic head to lift up, and control the ranging device to rise to the same horizontal height as the center of the thickness direction of the steel plate. The distance from the fixed side laser ranging sensor to the fixed side edge of the steel plate output by the fixed side laser ranging sensor when the magnetic head is just lifted up and has not moved is taken as the initial value, and the magnetic head is controlled to move according to the determined moving direction and moving distance required for the centering of the steel plate. The difference between the distance value output by the fixed side laser ranging sensor in real time and the initial value is the moving distance of the steel plate, and the magnetic head is controlled to stop when the moving distance is within the preset range;

[0074] In this embodiment, when the magnetic head moves, the moving distance of the steel plate is within the range of (β i - δ, β i + δ), that is, the speed of the magnetic head is set to 0, wherein δ is a compensation value.

[0075] In this embodiment, since the magnetic head is controlled by a pneumatic cylinder, it cannot respond immediately and stop immediately when the magnetic head is sent to stop due to the influence of equipment aging and response time. Therefore, the compensation of δ is to allow it to be within a certain range around the target value. That is, δ is set according to the actual operation of the specific equipment, for example, in this embodiment, δ is 1.5 mm.

[0076] B2, send signal control head down, while the ranging device is restored to the same level at the center of the thickness of the steel plate, the selected ranging device to the distance between the ranging device and the edge of the steel plate is used to determine the shear margin of the two sides of the steel plate after moving, and the shear margin of the two sides of the steel plate is obtained. The distance from the heat detection position is used as the coordinate in the steel plate profile data to obtain two shear lines. When the distance between the profile of the two sides of the steel plate and the corresponding shear line is greater than the minimum shear margin μ of one side, the centering requirement is met, and the centering completion signal is sent. Otherwise, the centering requirement is not met, and the operation of step 2 is returned to execute again. If it still cannot meet the centering requirement after execution, an alarm is sent for manual intervention.

[0077] The automatic centering method for double-sided shearing steel plate based on laser ranging described in the embodiments of the present application has at least the following beneficial effects:

[0078] 1) The distance between the ranging device and the edge of the steel plate output by the laser ranging sensor is used as the basis for calculating the shear margin of the steel plate. The double-sided shear margin value obtained has a precision of 1mm, has high measurement accuracy, and provides a more accurate movement distance value.

[0079] 2) Real-time measurement feedback during the movement of the head effectively ensures the control accuracy of the steel plate movement, provides more reliable automatic centering function for double-sided shearing steel plate, saves labor cost, reduces material waste, reduces manual operation cost, and improves the intelligent level of the production line.

[0080] The above only describes the preferred embodiments of the present application and does not limit the present application. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for automatic centering of double-sided sheared steel plates based on laser ranging, characterized in that, The method comprises the following steps: Step 1: a set of distance measuring devices is respectively installed at each magnetic head position of the double-sided shears, and a rectangular calibration block is used to calibrate the distance between the distance measuring devices and the edges of the roller table; each set of distance measuring devices comprises two laser distance measuring sensors, which are respectively installed on the fixed side and the moving side of the roller table; Step 2: after the steel plate enters the centering roller table, the head of the steel plate is stopped at the hot detection position controlled by the hot detection signal, the target shearing allowance on both sides of the steel plate is determined according to the distance between the selected distance measuring devices and the edges of the steel plate on both sides and the calibrated distance between the distance measuring devices and the edges of the roller table on both sides, and the moving direction and distance of the magnetic head required for the centering of the steel plate are determined according to the target shearing allowance on both sides of the steel plate obtained; Step 3: the magnetic head is controlled to be lifted and moved according to the determined moving direction and distance required for the centering of the steel plate, and the moving distance of the steel plate is detected in real time, and the centering process is completed after the magnetic head is controlled to stop when the centering requirement is met; The step 2 comprises: A1, after the steel plate enters the centering roller, the head of the steel plate is stopped at the heat detection position controlled by the heat detection signal, the initial fixed side steel plate shearing allowance and the initial moving side steel plate shearing allowance are determined according to the distance from the ranging device to the two side edges of the steel plate output by the selected ranging device, the calibrated distance from the ranging device to the two side edges of the roller, the distance from the fixed side shears to the edge of the fixed side roller and the planned width of the steel plate shearing, and the profile data of the steel plate is used as a reference and the initial moving side steel plate shearing allowance wherein, and are respectively represented as: wherein, and respectively are the distance from the fixed side laser ranging sensor to the fixed side edge of the roll table and the distance from the moving side laser ranging sensor to the moving side edge of the roll table, which are calibrated by placing a rectangular calibration block at the left and right boundaries of the i th head roll table respectively; is the distance from the fixed side laser ranging sensor to the fixed side edge of the steel plate output by the fixed side laser ranging sensor; is the distance from the moving side laser ranging sensor to the moving side edge of the steel plate output by the moving side laser ranging sensor;w t is the planned cutting width of the steel plate; w is the width of the roll table; d b is the distance from the fixed side shears to the fixed side edge of the roll table; A2, the minimum one-side shearing allowance required when shearing the steel plate is μ, the target allowance space of the steel plate on the fixed side of the i-th head position is the target allowance space of the corresponding moving side is A3: the target allowance space is discretized into a plurality of target shearing allowances with a unit of 1mm, each target shearing allowance is traversed, the target shearing allowance on the fixed side and the distance between the selected two sets of distance measuring devices and the hot detection position are taken as coordinates to obtain a fixed side shearing line on the steel plate profile data, the target shearing allowance on the moving side and the distance between the selected two sets of distance measuring devices and the hot detection position are taken as coordinates to obtain a moving side shearing line on the steel plate profile data, and the minimum value of the double-sided shearing allowance values of the profile data on both sides of the steel plate along the length direction of the steel plate relative to the two shearing lines is calculated and saved; A4, the target shear yield value of the fixed side corresponding to the maximum value in the data saved in step A3 As a target of the movement of the steel sheet, the head movement distance β required for centering the steel sheet is obtained i : Wherein, β i The positive and negative of β i >0 represents moving to the fixed side, β i <0 represents moving to the moving side.

2. The automatic centering method of double-sided sheared steel plates based on laser ranging according to claim 1, characterized in that, The distance measuring device is installed on a bracket capable of stepping up and down, the initial height is the same as the height of the roller table, and the distance measuring device is lifted to the same height as the center of the thickness direction of the steel plate after the steel plate enters the centering roller table.

3. The automatic centering method of double-sided sheared steel plates based on laser ranging according to claim 1, characterized in that, In step 2, when there are more than two sets of distance measuring devices with distance value output, only the output of the nearest set and the farthest set of distance measuring devices is used to guide the movement of the corresponding magnetic head, and the other magnetic heads remain stationary; when only two sets of distance measuring devices have distance value output, the output of the two sets of distance measuring devices is used to guide the movement of the corresponding magnetic head, and the other magnetic heads remain stationary; when less than two sets of distance measuring devices have distance value output, an alarm is given for manual intervention.

4. The automatic centering method of double-sided sheared steel plates based on laser ranging according to claim 1, characterized in that, The steel plate profile data comes from the output of the profiler of the previous process and contains the left and right boundary profile coordinates at each length position of the steel plate.

5. The automatic centering method of double-sided sheared steel plates based on laser ranging according to claim 1, characterized in that, The step 3 comprises: B1: a signal is sent to control the magnetic head to be lifted, and the distance measuring device is lifted to the same height as the center of the thickness direction of the steel plate, the distance between the fixed side laser distance measuring sensor and the fixed side edge of the steel plate output by the fixed side laser distance measuring sensor when the magnetic head is just lifted and has not moved is taken as an initial value, the magnetic head is controlled to move according to the determined moving direction and distance required for the centering of the steel plate, the difference between the distance value output by the fixed side laser distance measuring sensor in real time and the initial value is the moving distance of the steel plate, and the magnetic head is controlled to stop when the moving distance is within a preset range. B2, send signal control head down, while ranging equipment to restore the same level at the center of the thickness of the steel plate, using the selected ranging equipment ranging equipment to the distance between the two edges of the steel plate again to determine the shear margin of the two sides of the moving steel plate, to get the shear margin of the two sides of the steel plate and ranging equipment to the hot check position distance as the coordinate in the steel plate profile data to get two shear lines, when the profile of the two sides of the steel plate to the corresponding shear line distance is greater than the single side minimum shear margin μ, then meet the centering requirements, send the centering complete signal; Otherwise, it does not meet the centering requirements, return to execute step 2 operation, again execute later if still unable to meet the centering requirements, send alarm for manual intervention.

6. The automatic centering method of double-sided sheared steel plates based on laser ranging according to claim 5, characterized in that, In the control of the movement of the magnetic head in Step B1, the speed of the magnetic head is set to 0 when the moving distance of the steel sheet is in the range of (β i - δ, β i + δ) where δ is a compensation value.

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