A coil unloading trolley positioning compensation method and system
By combining a laser rangefinder and a grating, the offset of the steel coil center is calculated, and a compensation command is generated to adjust the position of the unloading trolley. This solves the problem of the unloading trolley being difficult to position accurately and enables safe and reliable steel coil transportation.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Filing Date
- 2023-09-26
- Publication Date
- 2026-05-29
Smart Images
Figure CN117463825B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of metallurgical automation technology, specifically to a positioning compensation method and system for an uncoiling trolley. Background Technology
[0002] In the sheet metal production process, a coiling machine is installed at the end of the production line to coil the steel coils produced by the production line. After a coil is coiled, an uncoiling trolley is used to transport the coil from the coiling machine to the transfer saddle, and then it is transported to the coil storage saddle by a walking beam. In actual coil transportation, it is difficult for the uncoiling trolley to place the coil in the center of the transfer saddle because the center line of the coil on the uncoiling trolley is difficult to align with the center line of the trolley saddle.
[0003] There are two situations that can lead to the above problem:
[0004] (1) In order to make the edges of the steel coils even, the coilers are equipped with an edge alignment system. The axial movement of the coiler is used to achieve the alignment of the edges of the steel coils. This results in the deviation between the center line of the steel coil on the coiler and the center line of the unit after one coil is produced, while the center line of the unwinding trolley coincides with the center line of the unit, thus the center line of the steel coil does not coincide with the unwinding trolley.
[0005] (2) During the threading process, the steel strip head did not reach the middle of the drum, causing the center of the steel coil to deviate from the center of the unit, and also causing the center line of the steel coil to not coincide with the unloading trolley.
[0006] This can lead to the steel coil not being centered on the uncoiling trolley during the coiling process, resulting in a deviation on the uncoiling trolley. In this case, when the uncoiling trolley places the steel coil on the transfer saddle, the steel coil will deviate from the transfer saddle. When the walking beam comes to the transfer saddle to pick up the coil, the saddle on the walking beam is very narrow, making it very easy for the steel coil to fall off the walking beam during the transfer process, causing a safety accident. Summary of the Invention
[0007] This application proposes a positioning compensation method and system for an unloading trolley to solve the problem in the prior art that the unloading trolley cannot accurately transfer the steel coil from the coiler to the center of the transfer saddle.
[0008] Firstly, this application provides a positioning compensation method for an unloading trolley, comprising:
[0009] Obtain a first distance value; the first distance value is the distance between the tail end of the unwinding trolley and the laser rangefinder when the steel coil on the unwinding trolley first reaches the grating during the process of the unwinding trolley moving from the coiler to the transfer saddle; the laser rangefinder is located on the movement trajectory of the unwinding trolley and close to the coiler side;
[0010] Obtain a second distance value; the second distance value is the distance between the tail end of the unloading trolley and the laser rangefinder when the steel coil leaves the grating after the first distance value is obtained and the unloading trolley continues to move toward the handover saddle.
[0011] The center offset of the steel coil on the unloading trolley is determined using the midpoint method.
[0012] If the center offset is not zero, a compensation command is generated based on the center offset to control the placement of the steel coil by the unloading trolley.
[0013] In some embodiments, the step of determining the center offset of the steel coil on the uncoiling trolley according to the midpoint method includes:
[0014] According to the midpoint formula, the distance from the center of the steel coil to the laser rangefinder is: S△1 = (S1 + S2) / 2;
[0015] Where S1 is the first distance value and S2 is the second distance value;
[0016] The center offset of the steel coil on the uncoiling trolley:
[0017] S△2 = S△1 - S;
[0018] Where S is the distance between the grating and the laser rangefinder.
[0019] In some embodiments, the method further includes:
[0020] If the center offset is zero, no compensation command is generated to control the placement of the steel coil by the unloading trolley.
[0021] In some embodiments, if the center offset is not zero, the step of generating a compensation command for controlling the placement of the steel coil by the unloading trolley based on the center offset includes:
[0022] If S△2 < 0, then a compensation command is generated to control the unloading trolley to move towards the operating side by the first set value:
[0023] M 设 =M 目 +|S△2|;where M 设 M is the first set value. 目 The original target travel value of the unloading vehicle.
[0024] In some embodiments, if the center offset is not zero, the step of generating a compensation command for controlling the placement of the steel coil by the unloading trolley based on the center offset includes:
[0025] If S△2>0, then a compensation command is generated to control the unloading trolley to move towards the operating side by the second set value:
[0026] M 设 =M 目 -|S△2|;where M 设 M is the second set value. 目 The original target travel value of the unloading vehicle.
[0027] Secondly, this application provides a positioning compensation system for an unloading trolley corresponding to the method described in the first aspect, the system comprising:
[0028] A grating is installed on the operating side and a laser rangefinder is installed on the transmission side;
[0029] The laser rangefinder is configured as follows:
[0030] Obtain a first distance value; the first distance value is the distance between the tail end of the unwinding trolley and the laser rangefinder when the steel coil on the unwinding trolley first reaches the grating during the process of the unwinding trolley moving from the coiler to the transfer saddle; the laser rangefinder is located on the movement trajectory of the unwinding trolley and close to the coiler side;
[0031] Obtain a second distance value; the second distance value is the distance between the tail end of the unloading trolley and the laser rangefinder when the steel coil leaves the grating after the first distance value is obtained and the unloading trolley continues to move toward the handover saddle.
[0032] The grating is configured to send signals to the laser rangefinder when the steel coil first arrives at the grating and when it leaves the grating;
[0033] It also includes a processor electrically connected to the laser rangefinder; the processor is configured to:
[0034] The center offset of the steel coil on the unloading trolley is determined using the midpoint method.
[0035] If the center offset is not zero, a compensation command is generated based on the center offset to control the placement of the steel coil by the unloading trolley.
[0036] In some embodiments, the processor is further configured to:
[0037] According to the midpoint formula, the distance from the center of the steel coil to the laser rangefinder is: S△1 = (S1 + S2) / 2;
[0038] Where S1 is the first distance value and S2 is the second distance value;
[0039] The center offset of the steel coil on the uncoiling trolley:
[0040] S△2 = S△1 - S;
[0041] Where S is the distance between the grating and the laser rangefinder.
[0042] In some embodiments, the processor is further configured to:
[0043] If the center offset is zero, no compensation command is generated to control the placement of the steel coil by the unloading trolley.
[0044] In some embodiments, the processor is further configured to:
[0045] If S△2 < 0, then a compensation command is generated to control the unloading trolley to move towards the operating side by the first set value:
[0046] M 设 =M 目 +|S△2|;where M 设 M is the first set value. 目 The original target travel value of the unloading vehicle.
[0047] In some embodiments, the processor is further configured to:
[0048] If S△2>0, then a compensation command is generated to control the unloading trolley to move towards the operating side by the second set value:
[0049] M 设 =M 目 -|S△2|;where M 设 M is the second set value. 目 The original target travel value of the unloading vehicle.
[0050] The beneficial effects of this invention are as follows:
[0051] 1. This application only requires a laser rangefinder to determine the positioning compensation, making the device simpler and the cost lower;
[0052] 2. This application does not require direct measurement of the steel coil width, and can achieve the target even when the specifications of each steel coil are different, saving manpower consumption for measuring the specifications of steel coils;
[0053] 3. This application uses the fewest data sources to achieve the target effect, without needing to acquire parameters such as steel coils and unloading trolleys, thus saving on system layout and personnel consumption. Attached Figure Description
[0054] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the embodiments will be briefly described below. Obviously, those skilled in the art can obtain other drawings based on these drawings without creative effort:
[0055] Figure 1A schematic diagram of the first state of the positioning compensation method for the unloading trolley provided in this application;
[0056] Figure 2 A schematic diagram of the second state of the positioning compensation method for the unloading trolley provided in this application;
[0057] Figure 3 A flowchart of the positioning compensation method for the unloading trolley provided in this application. Detailed Implementation
[0058] To better illustrate the technical solutions disclosed in this invention, the technical solutions in the embodiments of this invention will be described more completely and clearly below with reference to the accompanying drawings. It should be noted that the following description is only based on a portion of the embodiments of the technical solutions of this invention, and not all of them.
[0059] First, combined Figure 1 This document describes the main components of a system for implementing the method provided in this application and explains the concepts involved.
[0060] Drive side: refers to the side of the coiler, that is, the side from which the unwinding trolley needs to obtain the steel coil to be transferred.
[0061] Operating side: The side opposite to the drive side, i.e. the side where the transfer saddle is located. The unloading trolley needs to move from the drive side to the operating side to complete the transfer of the steel coil.
[0062] Laser rangefinder: It can be installed at any location near the drive side, such as on the wall on one side of the winding machine; the laser emitted by the laser rangefinder is in the same direction as the unwinding trolley, and the height of the laser rangefinder should be the same as the height of the reflective sticker attached to the tail end of the unwinding trolley to ensure that the laser emitted by the laser rangefinder can reach the tail end of the unwinding trolley and be obtained after reflection; the laser rangefinder is used to obtain the distance between the tail end of the unwinding trolley and the laser rangefinder at any time;
[0063] The grating is set at any position between the drive side and the operation side, preferably in the middle of the entire travel of the unwinding trolley; the grating covers any vertical plane in the direction of travel of the unwinding trolley, so that the steel coil on the unwinding trolley can gradually pass through the range of the grating.
[0064] It should be noted that in the method provided in this embodiment, the positions of the laser rangefinder and the grating should remain stationary during the movement of the unloading trolley.
[0065] Based on the above system components, the following is according to Figures 1-3 This application describes the method provided.
[0066] This application provides a positioning compensation method for a roll unloading trolley, including:
[0067] S100: Obtain the first distance value S1;
[0068] In this application, it is necessary to obtain two distance values at two different time points. First, see... Figure 1 The method for obtaining the first distance value at the first time point is as follows: the first distance value is the distance between the tail end of the unwinding trolley and the laser rangefinder when the steel coil on the unwinding trolley first reaches the grating (point A) during the process of the unwinding trolley moving from the coiler to the transfer saddle; the laser rangefinder is located on the movement trajectory of the unwinding trolley and close to the coiler.
[0069] Once the first distance value is obtained, the unloading trolley can continue to move towards the operating side, waiting to obtain the second distance value at the next time point.
[0070] See Figure 2 This refers to the process of obtaining the second distance value S2 at the second time point;
[0071] S200: The second distance value is the distance between the tail end of the unloading trolley and the laser rangefinder when the steel coil leaves the grating (point B) after the first distance value is obtained and the unloading trolley continues to move towards the handover saddle.
[0072] Depend on Figure 1 and Figure 2 It can be seen that since the unloading trolley traveled the length of one steel coil at the two time points, the above-obtained S1 and S2 have the following relationship: S2=S1+L1, where L1 is the length of the steel coil.
[0073] S300: After obtaining two distance values, the center offset of the steel coil on the unloading trolley can be determined according to the midpoint method;
[0074] Since the position of the steel coil on the unloading trolley is unknown, it may be placed in the center of the unloading trolley, or it may be placed in front of or behind the center of the unloading trolley. Figure 1 The positions (right or left) of the steel coil on the unloading trolley will affect the values S1 and S2 measured by the laser rangefinder. For example, given a fixed distance S between the grating and the laser rangefinder, if the steel coil is positioned to the right on the unloading trolley, it will reach the grating position earlier, resulting in a smaller first distance value S1. Conversely, if the steel coil is positioned to the left on the unloading trolley, its tip will reach the grating position later, resulting in a larger first distance value S1. Therefore, in this application, the S1 and S2 values obtained in the above steps can be used to determine whether there is a positional deviation on the unloading trolley and the magnitude of that deviation. The specific determination steps are as follows:
[0075] The steps for determining the center offset of the steel coil on the unwinding trolley using the midpoint method include:
[0076] S310: According to the midpoint formula, the distance from the center of the steel coil to the laser rangefinder is: S△1 = (S1 + S2) / 2;
[0077] Where S1 is the first distance value and S2 is the second distance value;
[0078] S320: The center offset of the steel coil on the uncoiling trolley:
[0079] S△2 = S△1 - S;
[0080] Where S is the distance between the grating and the laser rangefinder.
[0081] Based on the above calculations, it can be found that the value of S△2 can be greater than zero, less than zero, or equal to zero when the steel coil is placed at different positions on the unloading trolley. At this point, it is necessary to further judge the three cases to finally determine whether the movement of the unloading trolley needs to be compensated.
[0082] S400: If the center offset is not zero, a compensation command for controlling the placement of the steel coil by the unloading trolley is generated based on the center offset.
[0083] In this application, the compensation command for the unloading trolley is mainly used to adjust the final stopping position of the unloading trolley. For example, before the adjustment, the unloading trolley needs to travel 20m from the transmission side to the operation side. Since there is an offset (0.1m forward offset) on the unloading trolley, a compensation command can be generated for the unloading trolley to adjust the travel distance of the unloading trolley from 20m to 19.9m. At this time, when the unloading trolley reaches 19.9m, although there is a deviation between the unloading trolley and the transfer saddle, this deviation just neutralizes the deviation between the steel coil and the unloading trolley, so that the steel coil and the transfer saddle can be aligned.
[0084] When the value of the center offset S△2 is different, the method further includes:
[0085] S410: If the center offset is equal to zero, it means there is no deviation between the steel coil and the unloading trolley, and no adjustment is needed. Therefore, no compensation command is generated to control the placement of the steel coil by the unloading trolley.
[0086] S420: If S△2<0, it indicates that the steel coil deviates towards the transmission side, and a compensation command is generated to control the uncoiling trolley to move towards the operating side by the first set value.
[0087] M 设 =M 目 +|S△2|;where M 设 M is the first set value. 目The original target travel value of the unloading vehicle.
[0088] S430: If S△2>0, it indicates that the steel coil is deviating towards the operating side, and a compensation command is generated to control the uncoiling trolley to move towards the operating side by a second set value.
[0089] M 设 =M 目 -|S△2|;where M 设 M is the second set value. 目 The original target travel value of the unloading vehicle.
[0090] As can be seen from the above technical solution, the positioning compensation method for the unloading trolley provided in this application obtains two distance values corresponding to two time points before and after the steel coil passes through the grating, calculates the deviation value between the center of the steel coil and the center of the trolley using the midpoint formula measurement method, and then determines whether the unloading trolley needs to be compensated and adjusted based on the calculation results, so as to ensure that the unloading trolley can place the steel coil received from the coiler at the center position of the transfer saddle, thus providing a safety guarantee for subsequent coil transportation.
[0091] Corresponding to the above method, this application also provides a system corresponding to the above method, the system comprising:
[0092] A grating is installed on the operating side and a laser rangefinder is installed on the transmission side;
[0093] The laser rangefinder is configured as follows:
[0094] Obtain a first distance value; the first distance value is the distance between the tail end of the unwinding trolley and the laser rangefinder when the steel coil on the unwinding trolley first reaches the grating during the process of the unwinding trolley moving from the coiler to the transfer saddle; the laser rangefinder is located on the movement trajectory of the unwinding trolley and close to the coiler side;
[0095] Obtain a second distance value; the second distance value is the distance between the tail end of the unloading trolley and the laser rangefinder when the steel coil leaves the grating after the first distance value is obtained and the unloading trolley continues to move toward the handover saddle.
[0096] The grating is configured to send signals to the laser rangefinder when the steel coil first arrives at the grating and when it leaves the grating;
[0097] It also includes a processor PLC electrically connected to the laser rangefinder; the processor is configured to:
[0098] The center offset of the steel coil on the unloading trolley is determined using the midpoint method.
[0099] If the center offset is not zero, a compensation command is generated based on the center offset to control the placement of the steel coil by the unloading trolley.
[0100] In some embodiments, the processor is further configured to:
[0101] According to the midpoint formula, the distance from the center of the steel coil to the laser rangefinder is: S△1 = (S1 + S2) / 2;
[0102] Where S1 is the first distance value and S2 is the second distance value;
[0103] The center offset of the steel coil on the uncoiling trolley:
[0104] S△2 = S△1 - S;
[0105] Where S is the distance between the grating and the laser rangefinder.
[0106] In some embodiments, the processor is further configured to:
[0107] If the center offset is zero, no compensation command is generated to control the placement of the steel coil by the unloading trolley.
[0108] In some embodiments, the processor is further configured to:
[0109] If S△2 < 0, then a compensation command is generated to control the unloading trolley to move towards the operating side by the first set value:
[0110] M 设 =M 目 +|S△2|;where M 设 M is the first set value. 目 The original target travel value of the unloading vehicle.
[0111] In some embodiments, the processor is further configured to:
[0112] If S△2>0, then a compensation command is generated to control the unloading trolley to move towards the operating side by the second set value:
[0113] M 设 =M 目 -|S△2|;where M 设 M is the second set value. 目 The original target travel value of the unloading vehicle.
[0114] The technical effects of the above system application process can be found in the method description above, and will not be repeated here.
[0115] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
[0116] The embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention.
Claims
1. A positioning compensation method for an unloading trolley, characterized in that, include: Get the first distance value; The first distance value is the distance between the tail end of the unwinding trolley and the laser rangefinder when the steel coil on the unwinding trolley first reaches the grating during the process of the unwinding trolley moving from the coiler to the transfer saddle; the laser rangefinder is located on the movement trajectory of the unwinding trolley and close to the coiler side; Obtain a second distance value; the second distance value is the distance between the tail end of the unloading trolley and the laser rangefinder when the steel coil leaves the grating after the first distance value is obtained and the unloading trolley continues to move toward the handover saddle. According to the midpoint formula, the distance from the center of the steel coil to the laser rangefinder is: S△1 = (S1 + S2) / 2; Where S1 is the first distance value and S2 is the second distance value; The center offset of the steel coil on the uncoiling trolley: S△2 = S△1 - S; Where S is the distance between the grating and the laser rangefinder; If the center offset is not zero, a compensation command is generated based on the center offset to control the placement of the steel coil by the unloading trolley, including: If S△2 < 0, then a compensation command is generated to control the unloading trolley to move towards the operating side by the first set value: M 设 =M 目 +|S△2|;where M 设 M is the first set value. 目 To unload the vehicle's original target travel value; If S△2>0, then a compensation command is generated to control the unloading trolley to move towards the operating side by the second set value: M 设 =M 目 -|S△2|;where M 设 M is the second set value. 目 The original target travel value of the unloading vehicle.
2. The positioning compensation method for the unloading trolley according to claim 1, characterized in that, The method further includes: If the center offset is zero, no compensation command is generated to control the placement of the steel coil by the unloading trolley.
3. A positioning compensation system for a roll unloading trolley, characterized in that, The system includes: A grating is installed on the operating side and a laser rangefinder is installed on the transmission side; The laser rangefinder is configured as follows: Obtain a first distance value; the first distance value is the distance between the tail end of the unwinding trolley and the laser rangefinder when the steel coil on the unwinding trolley first reaches the grating during the process of the unwinding trolley moving from the coiler to the transfer saddle; the laser rangefinder is located on the movement trajectory of the unwinding trolley and close to the coiler side; Obtain a second distance value; the second distance value is the distance between the tail end of the unloading trolley and the laser rangefinder when the steel coil leaves the grating after the first distance value is obtained and the unloading trolley continues to move toward the handover saddle. The grating is configured to send signals to the laser rangefinder when the steel coil first arrives at the grating and when it leaves the grating; It also includes a processor electrically connected to the laser rangefinder; the processor is configured to: According to the midpoint formula, the distance from the center of the steel coil to the laser rangefinder is: S△1 = (S1 + S2) / 2; Where S1 is the first distance value and S2 is the second distance value; The center offset of the steel coil on the uncoiling trolley: S△2 = S△1 - S; Where S is the distance between the grating and the laser rangefinder; If the center offset is not zero, a compensation command for controlling the placement of the steel coil by the unloading trolley is generated based on the center offset. The processor is also configured to: If the center offset is zero, no compensation command is generated to control the placement of the steel coil by the unloading trolley. The processor is also configured to: If S△2 < 0, then a compensation command is generated to control the unloading trolley to move towards the operating side by the first set value: M 设 =M 目 +|S△2|;where M 设 M is the first set value. 目 To unload the vehicle's original target travel value; If S△2>0, then a compensation command is generated to control the unloading trolley to move towards the operating side by the second set value: M 设 =M 目 -|S△2|;where M 设 M is the second set value. 目 The original target travel value of the unloading vehicle.
4. The positioning compensation system for the unloading trolley according to claim 3, characterized in that, The processor is also configured to: If the center offset is zero, no compensation command is generated to control the placement of the steel coil by the unloading trolley.