A rough rolling automatic transfer bar control method

Abstract

The application provides a rough rolling automatic steel transferring control method, and belongs to the technical field of steel rolling. The method comprises the following steps: receiving information from an automatic first-stage system at the entrance and the exit of a rough rolling mill, judging whether to perform a steel transferring operation according to the received information; capturing a current billet image under a pass requiring steel transferring, performing billet rotating process control by adopting a safety limiting strategy, an angle measurement strategy, a position optimization strategy, a rotating speed regulation strategy and a over-rotation correction strategy based on the captured billet image; judging whether the steel transferring is successful according to a set steel transferring success evaluation condition, controlling a side guide plate to perform a holding operation if the steel transferring is successful, and performing an alarm reminding and switching to a manual mode if the steel transferring fails. The application can effectively improve the success rate and efficiency of the steel transferring process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of steel rolling, in particular to a rough rolling automatic steel transfer control method. BACKGROUND

[0002] In the production process of wide and thick plates, the rough rolling process needs to rotate the billet to realize the transposition of its length and width directions, so as to meet the specific production process requirements. At present, most steel enterprises still manually operate the cross roller to control the steel transfer, which is limited by the proficiency of the technical personnel, and the required time cannot be effectively controlled, thereby increasing the energy consumption in the production process. Especially for the steel transfer efficiency of some abnormal plate shapes, the further improvement of the efficiency is limited.

[0003] Some existing automatic steel transfer control methods and technologies have proposed a method based on machine vision to obtain the state of the billet, and then control the roller to realize automatic steel transfer, but cannot guarantee the success rate and efficiency of the steel transfer of abnormal plate shapes. SUMMARY

[0004] The rough rolling automatic steel transfer control method provided by the embodiments of the present application can improve the success rate and efficiency of the steel transfer process.

[0005] The rough rolling automatic steel transfer control method provided by the embodiments of the present application comprises:

[0006] At the entrance and exit of the rough rolling mill, information from the automatic first-level system is received, and it is judged whether to perform the steel transfer operation according to the received information;

[0007] In the pass requiring steel transfer, the current billet image is captured, and based on the captured billet image, the safety limit strategy, the angle measurement strategy, the position optimization strategy, the rotation speed control strategy and the over-rotation correction strategy are adopted to control the billet rotation process;

[0008] It is judged whether the steel transfer is successful according to the set steel transfer success evaluation condition, if the steel transfer is successful, the side guide plate is controlled to perform the holding operation, and if the steel transfer fails, an alarm is given and a manual mode is switched.

[0009] Further, the information received from the automatic first-level system includes: current billet information, current pass number, steel transfer permission signal, billet throwing signal and manual-automatic switching signal; wherein the current billet information includes: billet number, length, width and thickness;

[0010] The information received from the automatic first-level system at the entrance and exit of the rough rolling mill is received, and it is judged whether to perform the steel transfer operation according to the received information, which comprises:

[0011] At the entrance and exit of the rough rolling mill, information from the automatic first-level system is received, and if a rotation permission signal sent by the automatic first-level system after steel throwing is received, a steel rotation operation is performed.

[0012] Further, the current billet image is captured at the pass requiring steel rotation, and the safety limit strategy, the angle measurement strategy, the position optimization strategy, the rotation speed regulation strategy and the over-rotation correction strategy are used for billet rotation process control based on the captured billet image, which includes:

[0013] The current billet image is captured at the pass requiring steel rotation;

[0014] Based on the captured billet image, it is judged whether the billet exceeds the safety limit position according to the safety limit strategy, if not, the rotation angle of the billet is calculated according to the angle measurement strategy, and the billet is rotated to the rotation position using the position optimization strategy, wherein the rotation speed regulation strategy needs to be regulated during the rotation process, and the safety limit strategy, the angle measurement strategy and the position optimization strategy also need to be judged, if the rotation angle exceeds the rotation angle range required for successful steel rotation, correction needs to be made according to the over-rotation correction strategy.

[0015] Further, the safety limit strategy defines the left and right boundary lines of the actual billet rotation area as the outer safety line, the outer safety line is outside the camera monitoring picture, after steel throwing, the pixel width value of the billet is obtained by processing with a semantic segmentation model, the inner safety line is obtained by scaling the outer safety line inward by the pixel width of the billet, the inner safety line is inside the camera monitoring picture, the distance M1 from the left boundary of the billet standard bounding rectangle to the right inner safety line and the distance M2 from the right boundary of the billet standard bounding rectangle to the left inner safety line are used as the standard to judge whether the billet rotation is safe, if the distance values M1≥0 and M2≥0, it means that the safety limit position is not exceeded, the rotation angle is calculated according to the angle measurement strategy, and the billet is moved to the rotation position using the position optimization strategy; otherwise, move to the next steel rotation position to judge whether the safety limit position is exceeded.

[0016] Further, the angle measurement strategy is a combined angle measurement method, when the intersection over union IoU of the billet standard bounding rectangle and the minimum bounding rectangle is greater than 0.8, the acute angle between the minimum bounding rectangle and the roller direction is taken as the visual angle α, when the intersection over union IoU of the billet standard bounding rectangle and the minimum bounding rectangle is less than or equal to 0.8, the acute angle between the standard bounding rectangle and the billet outer contour is calculated as the visual angle α, and the final rotation angle of the billet is obtained according to the obtained visual angle α wherein, The initial value is 0, when the difference between the adjacent two visual angles is greater than 45° Subtract 1, the difference between the two adjacent visual angles is less than -45° Add 1, otherwise The value remains unchanged.

[0017] Further, the position optimization strategy uses artificial data autonomous learning, and the length, width and thickness of the billet are used as distinguishing elements to record the optimized position. The position for turning the billet is discretized in a certain interval. Each time the artificial turning is successful, the success rate of the billet in the position interval is increased by 1. When the automatic turning is performed, the first n regions of the recorded successful turning positions of the same type of billet are obtained as the optimized position points. The turning test is performed in a cycle at the n positions during the turning process, and each position point is tested m times. If the turning is not successful after m times, the next turning position is polled for the turning test. If the turning is not successful after polling all the n positions, an alarm is given and the manual turning mode is switched.

[0018] Further, the rotation speed control strategy adopts three-level control. First, the primary speed is used for rotation. When the rotation angle θ exceeds 45°, the secondary speed is used for rotation. When the rotation angle θ exceeds 75°, the tertiary speed is used for rotation. Among them, the primary speed > secondary speed > tertiary speed. When the rotation angle range required for successful turning of the billet is reached, the rotation is stopped.

[0019] Further, the over-rotation correction strategy is to reverse the correction when the rotation angle of the billet exceeds the rotation angle range required for successful turning. During the reverse correction, the primary speed is used, and the pulse trigger mode is adopted. The current speed is rotated and maintained for a certain period of time, and then stopped immediately. The rotation angle change is observed, and this process is repeated until the required rotation angle range is reached.

[0020] Further, the successful turning evaluation condition is set according to the total time of automatic turning and the length-width ratio of the billet after the turning is completed. The length direction is the running direction of the roller, and the width direction is the width direction of the roller. When the length-width ratio is less than 0.5, the rotation angle range of the billet for successful turning is defined as 80°-100°. When the length-width ratio is greater than or equal to 0.5, the rotation angle range of the billet for successful turning is 75°-105°.

[0021] Further, after the turning is successful, if the billet is within the center area range of the turning roller, the turning completion message is sent directly. Otherwise, the billet is moved to the center area range of the turning roller, and then the turning completion message is sent.

[0022] The turning failure refers to the case where the total time of automatic turning exceeds the set time limit, and the rotation angle of the billet has not reached the required rotation angle range for successful turning. In this case, the turning is considered to be a failure, and the manual turning mode is switched. After the manual turning is completed, the automatic turning mode is switched back.

[0023] The technical scheme provided by the embodiment of the present application has at least the following beneficial effects:

[0024] In the embodiment of the present application, information from the automatic first-stage system is received at the inlet and outlet of the rough rolling mill, and it is determined whether to perform the steel turning operation according to the received information; under the pass requiring the steel turning, the current billet image is captured, and based on the captured billet image, the steel billet rotation process control is performed by using the safety limiting strategy, the angle measurement strategy, the position optimization strategy, the rotation speed control strategy and the over-rotation correction strategy; it is determined whether the steel turning is successful according to the set steel turning success evaluation condition, if the steel turning is successful, the side guide plate is controlled to perform the holding operation, and if the steel turning fails, an alarm is given and the manual mode is switched. In this way, the steel billet rotation process control is performed by fusing multiple control strategies, which can effectively adapt to the complex situation in the actual production site, thereby effectively improving the success rate and efficiency of the steel turning process and ensuring the stability of the steel turning. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical scheme in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0026] Figure 1 The flowchart of the rough rolling automatic steel turning control method provided by the embodiment of the present application is shown in the figure.

[0027] Figure 2(a) is a schematic diagram of left side safety limiting of the steel turning area provided by the embodiment of the present application.

[0028] Figure 2(b) is a schematic diagram of right side safety limiting of the steel turning area provided by the embodiment of the present application.

[0029] Figure 3 The angle calculation schematic diagram when IoU>0.8 is provided by the embodiment of the present application.

[0030] Figure 4 The angle calculation schematic diagram when IoU≤0.8 is provided by the embodiment of the present application.

[0031] Figure 5 The angle calculation schematic diagram when IoU≤0.8 under the occlusion condition is provided by the embodiment of the present application. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical scheme and advantages of the present application more clear, the following will further describe the embodiments of the present application in combination with the drawings.

[0033] As Figure 1As shown, the embodiment of the present application provides a rough rolling automatic steel transfer control method, comprising:

[0034] S101, at the entrance and exit of the rough rolling mill, receiving information from the automatic first-level system, and judging whether to perform the steel transfer operation according to the received information;

[0035] In the embodiment, the received information from the automatic first-level system includes: current billet information, current pass number, steel transfer permission signal, steel throwing signal and manual-automatic switching signal; wherein the current billet information includes: billet number, length, width and thickness;

[0036] In the embodiment, the receiving information from the automatic first-level system at the entrance and exit of the rough rolling mill and judging whether to perform the steel transfer operation according to the received information includes:

[0037] At the entrance and exit of the rough rolling mill, receiving information from the automatic first-level system, and if the steel transfer permission signal sent after the automatic first-level system throws the steel is received, performing the steel transfer operation.

[0038] S102, capturing the current billet image at the pass requiring steel transfer, and based on the captured billet image, adopting the safety limit strategy, the angle measurement strategy, the position optimization strategy, the rotation speed control strategy and the over-rotation correction strategy to perform the billet rotation process control, which can specifically include the following steps:

[0039] A11, capturing the current billet image at the pass requiring steel transfer by using a camera;

[0040] In the embodiment, the camera is installed on the beam of the viewing channel corresponding to the entrance and exit of the rough rolling mill, and can shoot the steel transfer roller at the entrance and exit.

[0041] A12, based on the captured billet image, judging whether the billet exceeds the safety limit position according to the safety limit strategy, if not, calculating the rotation angle of the billet according to the angle measurement strategy, and using the position optimization strategy to rotate the billet to the rotation position, wherein the rotation speed control strategy needs to be controlled during the rotation process, and the safety limit strategy, the angle measurement strategy and the position optimization strategy also need to be judged, and if the rotation angle exceeds the rotation angle range required for successful steel transfer, the over-rotation correction strategy needs to be corrected.

[0042] As shown in FIG. 2(a) and FIG. 2(b), the safety limiting strategy is to define the left and right boundary lines of the actual billet rotation area as the outer safety lines, the outer safety lines are outside the camera monitoring picture, after the billet is thrown, the pixel width value of the billet is obtained by processing the semantic segmentation model, the inner safety line is obtained by scaling the outer safety line inward by the pixel width of the billet, the inner safety line is inside the camera monitoring picture, the distance M1 from the left boundary of the billet standard bounding rectangle to the right inner safety line and the distance M2 from the right boundary of the billet standard bounding rectangle to the left inner safety line are used as the standard to judge whether the billet rotation is safe, if the distance values M1≥0 and M2≥0, it means that the safety limit position is not exceeded, it is a safe state, then the rotation angle is calculated according to the angle measurement strategy, and the position optimization strategy is used to move the billet to the rotation position; otherwise, that is, M1<0 or M2<0, it means that it is an unsafe state, then move to the next billet rotation position to judge whether the safety limit position is exceeded.

[0043] In this embodiment, the safety limit can be updated in real time according to the change of the pixel width of the billet during the billet rotation, so as to adapt to the demand of the aspect ratio change. The safety limiting strategy is always executed for judgment, which is used to limit the area limit of the billet rotation to prevent the billet from rotating into the rolling mill.

[0044] In this embodiment, the angle measurement strategy is a combined angle measurement method, when the intersection and union ratio IoU of the standard bounding rectangle of the billet and the minimum bounding rectangle is greater than 0.8, as shown in FIG. 3(a), the acute angle between the minimum bounding rectangle and the roller direction is taken as the visual angle α, when the intersection and union ratio IoU of the standard bounding rectangle of the billet and the minimum bounding rectangle is less than or equal to 0.8, as shown in FIG. 3(b), the acute angle between the standard bounding rectangle and the billet outer contour is calculated as the visual angle α, according to the obtained visual angle α, the final rotation angle of the billet is obtained Figure 3 Figure 4 5 wherein, the initial value is 0, when the difference between the adjacent two visual angles is greater than 45°, it is reduced by 1, when the difference between the adjacent two visual angles is less than -45°, it is increased by 1, and in other cases, the value remains unchanged.

[0045] In this embodiment, the angle measurement strategy can obtain the final rotation angle value of the billet, which is used to judge whether the billet rotation is successful.

[0046] ​​​​​​In this embodiment, the position optimization strategy uses artificial data autonomous learning. The length, width and thickness of the billet are used as distinguishing elements to record the optimized position. As shown in Table 1, the position for turning the billet is discretized in certain intervals. Each time the artificial turning of the billet is successful, the success rate statistics value at the position interval of the steel plate is increased by 1. When the automatic turning of the billet is performed, the first n regions of the recorded successful turning positions of the same type of billet are obtained as the optimized position points. The turning test is performed in a cycle at the n positions during the turning process. Each position point is tested for m times. If the turning is not successful after m times, the next turning position is polled for the turning test. If the turning is not successful after polling all the n positions, an alarm is given and the manual turning mode is switched.

[0047] In this embodiment, the position optimization strategy is used to find the most suitable turning position as soon as possible, reduce the risk of roll slipping and improve the success rate of turning.

[0048] Table 1: Interval range of the region in the image where the billet can be turned and success rate statistics value

[0049]

[0050] In this embodiment, the rotation speed control strategy adopts three-level control. First, the primary speed is used for rotation. When the rotation angle θ exceeds 45°, the secondary speed is used for rotation. When the rotation angle θ exceeds 75°, the tertiary speed is used for rotation. The primary speed > secondary speed > tertiary speed. When the rotation angle range for successful turning of the billet is reached, the rotation is stopped.

[0051] In this embodiment, the rotation speed control strategy can effectively improve the turning efficiency and prevent over-rotation (i.e., too large rotation angle).

[0052] In this embodiment, the over-rotation correction strategy is to reverse the correction when the rotation angle of the billet exceeds the required rotation angle range for successful turning of the billet. The primary speed is used for reverse correction, and the pulse trigger method is adopted. The current speed is rotated and maintained for a certain time, and then stopped immediately. The rotation angle change is observed, and the process is repeated until the required rotation angle range is reached.

[0053] S103, whether the turning of the billet is successful is determined according to the set turning success evaluation condition. If the turning of the billet is successful, the control side guide plate is controlled to perform the holding operation. If the turning of the billet fails, an alarm is given and the manual mode is switched.

[0054] In the embodiment, the success evaluation condition of the steel turning is set according to the total time of the automatic steel turning and the length-width ratio of the billet after the completion of the steel turning, wherein the length direction is the running direction of the roller, and the width direction is the width direction of the roller; when the length-width ratio is less than 0.5, the rotation angle range of the steel billet for the successful steel turning is defined as 80°-100°; and when the length-width ratio is greater than or equal to 0.5, the rotation angle range of the steel billet for the successful steel turning is 75°-105°.

[0055] In the embodiment, after the successful steel turning, if the billet is in the center area range of the steel turning roller, a steel turning completion message is directly sent; otherwise, the billet is moved to the center area range of the steel turning roller, and then a steel turning completion message is sent.

[0056] The steel turning failure refers to that after the total time of the automatic steel turning exceeds the set time limit, if the rotation angle of the billet has not reached the steel billet rotation angle range required for the successful steel turning, it is considered that the steel turning fails, and the manual steel turning mode is switched to; after the manual steel turning is completed, a hand-automatic switching signal is sent to switch back to the automatic steel turning mode.

[0057] The rough rolling automatic steel turning control method can replace the manual implementation of the automatic production of the corresponding process section, improve the steel turning efficiency, and reduce the energy loss to a certain extent.

[0058] The rough rolling automatic steel turning control method receives information from the automatic first-level system at the inlet and outlet of the rough rolling mill, judges whether to perform the steel turning operation according to the received information; under the pass requiring the steel turning, the current billet image is captured, the safety limiting strategy, the angle measurement strategy, the position optimization strategy, the rotation speed control strategy and the over-rotation correction strategy are adopted to control the billet rotation process based on the captured billet image; whether the steel turning is successful is judged according to the set steel turning success evaluation condition; if the steel turning is successful, the side guide plate is controlled to perform the holding operation; if the steel turning fails, an alarm is given and the manual mode is switched to. In this way, the billet rotation process is controlled by fusing multiple control strategies, which can effectively adapt to the complex situation in the actual production site, thereby effectively improving the success rate and efficiency of the steel turning process and ensuring the stability of the steel turning.

[0059] The above only describes the preferred embodiments of the present application and is not intended to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A rough rolling automatic transfer bar control method characterized by comprising: The method comprises the following steps: At the entrance and exit of the rough rolling mill, information from the automatic first-level system is received, and it is determined whether to perform the steel turning operation according to the received information; At the pass requiring steel turning, the current billet image is captured, and the steel turning process control is performed based on the captured billet image by using the safety limit strategy, the angle measurement strategy, the position optimization strategy, the rotating speed regulation strategy and the over-rotation correction strategy; According to the set steel turning success evaluation condition, it is determined whether the steel turning is successful, if the steel turning is successful, the side guide plate is controlled to perform the holding operation, if the steel turning fails, an alarm is given and a manual mode is switched to; The steel turning process control at the pass requiring steel turning by using the safety limit strategy, the angle measurement strategy, the position optimization strategy, the rotating speed regulation strategy and the over-rotation correction strategy based on the captured billet image comprises the following steps: At the pass requiring steel turning, the current billet image is captured; Based on the captured billet image, it is determined whether the billet exceeds the safety limit position according to the safety limit strategy, if the billet does not exceed the safety limit position, the rotating angle of the billet is calculated according to the angle measurement strategy, and the billet is rotated to the rotating position by using the position optimization strategy, wherein the rotating speed regulation strategy is required to be used for regulating the rotating speed during the rotating process, and the safety limit strategy, the angle measurement strategy and the position optimization strategy are required to be used for judging, if the rotating angle exceeds the rotating angle range required for the steel turning to be successful, the over-rotation correction strategy is required to be used for correction; The safety limit strategy is to define the left and right boundary lines of the actual billet rotating area as the outer safety lines, the outer safety lines are outside the camera monitoring picture, after the billet is thrown, the pixel width value of the billet is obtained by using the semantic segmentation model, the inner safety lines are obtained by scaling the outer safety lines inward by the pixel width of the billet, the inner safety lines are inside the camera monitoring picture, the distance M1 from the left boundary of the billet standard bounding rectangle to the right inner safety line and the distance M2 from the right boundary of the billet standard bounding rectangle to the left inner safety line are used as the standard to judge whether the billet rotation is safe, if the distance values M1 and M2 are both greater than or equal to 0, it is indicated that the billet does not exceed the safety limit position, the rotating angle is calculated according to the angle measurement strategy, and the billet is moved to the rotating position by using the position optimization strategy; otherwise, the next steel turning position is moved to judge whether the billet exceeds the safety limit position.

2. The rough rolling automatic transfer bar control method according to claim 1, characterized by, The received information from the automatic first-level system comprises the current billet information, the current pass number, the steel turning permission signal, the billet throwing signal and the manual-automatic switching signal, wherein the current billet information comprises the billet number, the length, the width and the thickness; The information from the automatic first-level system is received at the entrance and exit of the rough rolling mill, and it is determined whether to perform the steel turning operation according to the received information comprises the following steps: The information from the automatic first-level system is received at the entrance and exit of the rough rolling mill, if the steel turning permission signal sent by the automatic first-level system after the billet is thrown is received, the steel turning operation is performed.

3. The rough rolling automatic transfer bar control method according to claim 1, characterized by, The angle measurement strategy is to adopt a combined angle measurement method, when the intersection and union ratio IoU of the standard circumscribed rectangle and the minimum circumscribed rectangle of the billet is greater than 0.8, the acute angle between the minimum circumscribed rectangle and the roller direction is taken as the visual angle α, when the intersection and union ratio IoU of the standard circumscribed rectangle and the minimum circumscribed rectangle of the billet is less than or equal to 0.8, the acute angle is calculated by using three intersection points between the standard circumscribed rectangle and the outer contour of the billet as the visual angle α, and the final rotation angle of the billet is obtained according to the obtained visual angle α wherein, The initial value is 0, when the difference between the adjacent two visual angles is greater than 45° Subtract 1, when the difference between the adjacent two visual angles is less than -45° Add 1, otherwise The value remains unchanged.

4. The rough rolling automatic transfer bar control method according to claim 1, characterized by, The position optimization strategy uses artificial data autonomous learning, and the length, width and thickness of the billet are used as the distinguishing elements to record the optimized position. The position for turning the billet is discretized in a certain interval. Each time the artificial turning is successful, the success rate of the billet at the position interval is increased by 1. When the automatic turning is performed, the first n regions of the recorded successful turning positions of the same type of billet are obtained as the optimized position points. The turning test is performed in a cycle at the n positions during the turning process. Each position point is tested m times. If the turning is not successful after m times, the next turning position is polled for the turning test. If the turning is not successful after polling all the n positions, an alarm is given and the manual turning mode is switched.

5. The rough rolling automatic transfer bar control method according to claim 1, characterized by, The rotation speed control strategy adopts three-level control. First, the primary speed is used for rotation. When the rotation angle θ exceeds 45°, the secondary speed is used for rotation. When the rotation angle θ exceeds 75°, the tertiary speed is used for rotation. The primary speed > secondary speed > tertiary speed. When the rotation angle reaches the successful turning range, the rotation is stopped.

6. The rough rolling automatic transfer bar control method according to claim 1, characterized by, The over-rotation correction strategy is to reverse the correction when the rotation angle of the billet exceeds the required rotation angle range for successful turning. The primary speed is used for reverse correction, and the pulse trigger method is adopted. The current speed is rotated and maintained for a certain time, and then stopped immediately. The rotation angle change is observed, and the process is repeated until the required rotation angle range is reached.

7. The rough rolling automatic transfer bar control method according to claim 1, characterized by, The successful turning evaluation condition is based on the total time of automatic turning and the length-width ratio of the billet after turning. The length direction is the running direction of the roller, and the width direction is the width direction of the roller. When the length-width ratio < 0.5, the rotation angle range of the billet for successful turning is defined as 80°-100°. When the length-width ratio ≥ 0.5, the rotation angle range of the billet for successful turning is 75°-105°.

8. The rough rolling automatic transfer bar control method according to claim 1, characterized by, After successful turning, if the billet is in the center area range of the turning roller, the turning completion message is sent directly. Otherwise, the billet is moved to the center area range of the turning roller, and the turning completion message is sent. The turning failure refers to the total time of automatic turning exceeding the set time limit, and the billet rotation angle has not reached the required billet rotation angle range for successful turning. It is considered that the turning fails, and the manual turning mode is switched. After the manual turning is completed, the automatic turning signal is sent to switch back to the automatic turning mode.

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