A method and system for tracking entry and exit saddle steel coils in a cold rolling process control system

Abstract

A cold rolling process control system inlet and outlet saddle steel coil tracking method and system, the method comprises the following steps: step 1, establish a coordinate system, calibrate the position interval of each saddle in the coordinate system; step 2, real-time acquisition of each saddle occupancy signal, and steel coil trolley moving position; step 3, based on the occupancy signal of the steel coil and each saddle, the moving position of the steel coil trolley and the position interval of each saddle, the source saddle and the target saddle of the steel coil movement are obtained, and the steel coil movement trajectory tracking is carried out. The present application establishes a tracking coordinate system, collects the saddle occupancy signal of the basic automation system (PLC) and the moving position of the steel coil trolley, monitors the steel coil movement trajectory throughout, determines the source saddle and the target saddle of the steel coil movement according to the saddle position matching algorithm, and updates the client tracking picture accordingly, solves the problems of low tracking efficiency and low accuracy of the traditional method, and is a kind of efficient and accurate automatic tracking method.

Description

Technical Field

[0001] This invention relates to the tracking of steel coils on the saddle of a metallurgical cold rolling process control system, specifically to a method and system for tracking steel coils on the inlet and outlet saddle of a cold rolling process control system. Background Technology

[0002] The metallurgical cold rolling process control system is an indispensable part of the automatic control of a cold rolling production line. Tracking the coils at the inlet and outlet saddles is a crucial function, used to dynamically display the current coil occupancy status and coil number at each saddle. Common implementation methods include: operators manually setting the current coil number for each saddle based on the actual production situation on the process control system monitoring screen, resulting in low tracking efficiency; or only setting the current coil number for some saddles and analyzing data from other sensors provided by the basic automation system (PLC) (such as saddle occupancy photoelectric signals, coil trolley movement position, etc.), but the tracking accuracy is not high. Summary of the Invention

[0003] In view of the technical defects and drawbacks existing in the prior art, embodiments of the present invention provide a method and system for tracking steel coils at the inlet and outlet saddle of a cold rolling process control system to overcome or at least partially solve the above problems. The specific solution is as follows:

[0004] As a first aspect of the present invention, a method for tracking steel coils at the inlet and outlet saddle of a cold rolling process control system is provided, the method comprising:

[0005] Step 1: Establish a coordinate system and mark the position range of each saddle in the coordinate system;

[0006] Step 2: Collect the occupancy signals of each saddle and the moving position of the steel coil trolley in real time;

[0007] Step 3: Based on the occupancy signals of the steel coil and each saddle, the moving position of the steel coil trolley, and the position range of each saddle, obtain the source saddle and target saddle for the movement of the steel coil, and perform steel coil movement trajectory tracking.

[0008] Furthermore, step 1 also includes configuring the saddles and steel coils, marking the saddle numbers of all saddles, and marking the coil numbers of all steel coils.

[0009] Furthermore, in step 1, a coordinate system is established along the steel coil trolley track according to the direction of steel coil movement, and the position interval of each saddle is marked, that is, the position of each saddle in the coordinate system.

[0010] Furthermore, in step 2, the real-time acquisition of the occupancy signals of each saddle includes: real-time acquisition and recording of each saddle occupancy signal, recording and buffering when the saddle occupancy signal changes, wherein the occupancy signal is denoted as (time, signal), where time is the time in seconds, and signal is 0 or 1, representing no signal and signal present, respectively.

[0011] Furthermore, step 3 includes:

[0012] The steel coil moves between the saddles, that is, the source saddle state changes from having a signal and a coil number to having no signal and no coil number, and the target saddle state changes from having no signal and no coil number to having a signal and a coil number. When the source saddle signal is lost, the source saddle occupancy signal is recorded as (time1,0) and the coil number is recorded as coil. When the target saddle signal is obtained, the target saddle occupancy signal is recorded as (time2,1).

[0013] Based on time1 and time2, the time intervals for the steel coil entering and leaving the saddle can be determined, as well as the time interval for the steel coil just entering the target saddle. dstTZone The time interval srcTZone from when the steel coil just leaves the source saddle is denoted as [time2,time2+dt], and dt is the time length in seconds.

[0014] Based on time1 and time2, determine the time intervals for the steel coil to enter and leave the saddle, and the time interval for the steel coil to just enter the target saddle. dstTZone The time interval srcTZone from when the steel coil just leaves the source saddle is denoted as [time2,time2+dt], and dt is the time length in seconds.

[0015] Based on the key-value pairs (time, site) of the steel coil trolley positions, find the set of trolley positions corresponding to the time interval. The set of positions corresponding to dstTZone in chronological order is dstSSet:[dstSite1,…,dstSiteN], and the set of positions corresponding to srcTZone in chronological order is srcSSet:[srcSite1,…,srcSiteN], where: dstSite1 is the position at time2, dstSiteN is the position at time2+dt; srcSite1 is the position at time1-dt, and srcSiteN is the position at time1. This determines the set of potential steel coil moving saddle positions.

[0016] Let the potential saddle position sets srcSSet and dstSSet be compared sequentially with the already labeled saddle position intervals, including;

[0017] Take the position at each moment from the srcSSet or dstSSet set, and determine whether the position is within the marked saddle position interval. If it is, increment the counter count by 1. The proportion of positions that meet the requirements is rao = count / totalCount. If rao >= threshold, then the saddle represented by this saddle position set is considered to be the saddle in the steel coil movement process. Where: totalCount is the number of elements in the srcSSet or dstSSet set, and threshold is the threshold value. The saddle represented by the srcSSet set that meets the requirements is the source saddle in the steel coil movement process, and the saddle represented by the dstSSet set that meets the requirements is the target saddle in the steel coil movement process.

[0018] As a second aspect of the present invention, a cold rolling process control system inlet and outlet saddle coil tracking system is provided, the system comprising: a configuration module, a data acquisition module, and a trajectory tracking module;

[0019] The configuration module is used to establish a coordinate system and define the position range of each saddle in the coordinate system;

[0020] The data acquisition module is used to collect the occupancy signals of each saddle and the moving position of the steel coil trolley in real time.

[0021] The trajectory tracking module is used to obtain the source saddle and target saddle of the steel coil movement based on the occupancy signals of each saddle, the moving position of the steel coil trolley, and the saddle position range, and to perform steel coil movement trajectory tracking.

[0022] Furthermore, the configuration module is also used to configure the saddles and steel coils, assign saddle numbers to all saddles, and assign coil numbers to all steel coils.

[0023] Furthermore, the configuration module establishes a coordinate system along the steel coil trolley track according to the direction of steel coil movement, and marks the position range of each saddle, that is, the position of each saddle in the coordinate system.

[0024] Furthermore, the acquisition of the occupancy signal of each saddle includes: recording the occupancy signal of each saddle, recording and buffering when the occupancy signal of the saddle changes, wherein the occupancy signal is denoted as (time, signal), where time is the time in seconds, and signal is 0 or 1, representing no signal and signal present, respectively.

[0025] Furthermore, the trajectory tracking module, based on the moving position of the steel coil trolley and the saddle position range, obtains the source saddle and target saddle for the movement of the steel coil, including:

[0026] The steel coil moves between the saddles, that is, the source saddle state changes from having a signal and a coil number to having no signal and no coil number, and the target saddle state changes from having no signal and no coil number to having a signal and a coil number. When the source saddle signal is lost, the source saddle occupancy signal is recorded as (time1,0) and the coil number is recorded as coil. When the target saddle signal is obtained, the target saddle occupancy signal is recorded as (time2,1).

[0027] Based on time1 and time2, the time intervals for the steel coil entering and leaving the saddle can be determined, as well as the time interval for the steel coil just entering the target saddle. dstTZone The time interval srcTZone from when the steel coil just leaves the source saddle is denoted as [time2,time2+dt], and dt is the time length in seconds.

[0028] Based on time1 and time2, determine the time intervals for the steel coil to enter and leave the saddle, and the time interval for the steel coil to just enter the target saddle. dstTZone The time interval srcTZone from when the steel coil just leaves the source saddle is denoted as [time2,time2+dt], and dt is the time length in seconds.

[0029] Based on the key-value pairs (time, site) of the steel coil trolley positions, find the set of trolley positions corresponding to the time interval. The set of positions corresponding to dstTZone in chronological order is dstSSet:[dstSite1,…,dstSiteN], and the set of positions corresponding to srcTZone in chronological order is srcSSet:[srcSite1,…,srcSiteN], where: dstSite1 is the position at time2, dstSiteN is the position at time2+dt; srcSite1 is the position at time1-dt, and srcSiteN is the position at time1. This determines the set of potential steel coil moving saddle positions.

[0030] Let the potential saddle position sets srcSSet and dstSSet be compared sequentially with the already labeled saddle position intervals, including;

[0031] Take the position at each moment from the srcSSet or dstSSet set, and determine whether the position is within the marked saddle position interval. If it is, increment the counter count by 1. The proportion of positions that meet the requirements is rao = count / totalCount. If rao >= threshold, then the saddle represented by this saddle position set is considered to be the saddle in the steel coil movement process. Where: totalCount is the number of elements in the srcSSet or dstSSet set, and threshold is the threshold value. The saddle represented by the srcSSet set that meets the requirements is the source saddle in the steel coil movement process, and the saddle represented by the dstSSet set that meets the requirements is the target saddle in the steel coil movement process.

[0032] The present invention has the following beneficial effects:

[0033] This invention proposes an automated tracking method for tracking steel coils at the inlet and outlet saddles of a metallurgical cold rolling process control system. By establishing a tracking coordinate system, collecting saddle occupancy signals and the movement position of the steel coil trolley from the basic automation system (PLC), the method monitors the entire movement trajectory of the steel coil. The source and target saddles of the steel coil movement are determined according to a saddle position matching algorithm, and the client-side tracking screen is updated accordingly. This method solves the problems of low tracking efficiency and low accuracy of traditional methods, and is a highly efficient and accurate automated tracking method. Attached Figure Description

[0034] Figure 1 A flowchart of a method for tracking steel coils at the inlet and outlet saddle of a cold rolling process control system provided in this embodiment of the invention;

[0035] Figure 2 This is a schematic diagram showing the distribution of the uncoiler and winding machine saddles provided in an embodiment of the present invention. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] Reference Figure 1 This invention provides a method for tracking steel coils at the inlet and outlet saddle of a cold rolling process control system, the method comprising:

[0038] Step 1: Establish a coordinate system and mark the position range of each saddle in the coordinate system;

[0039] Step 2: Real-time acquisition of the movement position of the steel coil trolley;

[0040] Step 3: Based on the moving position of the steel coil trolley and the saddle position range, obtain the source saddle and target saddle for the movement of the steel coil, and perform steel coil movement trajectory tracking.

[0041] The invention will now be described in detail using three saddles as an example. The positions of the saddles for the uncoiler and coiler are distributed as follows: Figure 2 As shown, the arrows indicate the direction of steel coil movement during production. The entire process includes:

[0042] Coordinate system calibration: Establish a coordinate system along the steel coil trolley track according to the direction of steel coil movement, and mark the position interval of each saddle. The saddles are numbered sequentially as [S1min,S1max], [S2min,S2max], and [S3min,S3max]. The uncoiler and coiler are numbered as [S0min,S0max].

[0043] Steel coil trolley position caching: The basic automation system (PLC) updates the trolley position in real time according to the coordinate system as the trolley moves. The server collects the movement position of the steel coil trolley at the entrance and exit according to a certain collection cycle and caches it within a certain time range. Considering the trolley running speed and track length in actual production, as well as the real-time requirements of tracking, the collection cycle is usually 1 second, and the caching time range is in the minute range, such as 30 minutes. Each position is recorded as a key-value pair (time, site), where time is in seconds.

[0044] Saddle position signal buffer: Each time the saddle position signal changes, it is recorded and buffered. The position signal is denoted as (time, signal), where time is in seconds and signal is 0 or 1, which means no signal and signal is present, respectively.

[0045] Saddle Status Update: Based on the presence of a position signal and coil number, the saddle is categorized into four states: signal and coil number present, signal but no coil number present, no signal and no coil number present, and no signal but coil number present. As the coil moves between saddles, the tracking system needs to update the saddle status and the tracking screen in real time according to the actual situation.

[0046] Steel coil movement trajectory monitoring: When the steel coil moves between the saddles, the source saddle state changes from having a signal and a coil number to having no signal and no coil number, and the target saddle state changes from having no signal and no coil number to having a signal and a coil number.

[0047] When the source saddle signal is lost, the source saddle position signal is recorded as (time1,0), the roll number is recorded as coil, and the server caches it. At the same time, the server clears the PLC source saddle roll number position data, and the client updates the tracking screen data.

[0048] When the target saddle signal is acquired, the target saddle occupancy signal is recorded as (time2,1) and cached on the server. Simultaneously, the client updates the tracking screen data.

[0049] Determine the set of potential moving saddle locations for steel coils:

[0050] Based on time1 and time2, the time intervals for the steel coil entering and leaving the saddle can be determined, as well as the time interval for the steel coil just entering the target saddle. dstTZone The time interval srcTZone, where the steel coil just leaves the source saddle, can be denoted as [time2, time2+dt]. This interval can be denoted as [time1-dt, time1], where dt is the time length in seconds. It can be determined according to the speed of the trolley. In fast mode, the dt value should be larger than in slow mode. Since the trolley may move across saddles, dt should not be too small and should generally be greater than 10 seconds.

[0051] Based on the cached key-value pairs (time, site) representing the vehicle's location within the specified time interval (site), the set of vehicle locations corresponding to that time interval is retrieved. The set of locations corresponding to dstTZone, ordered chronologically, is dstSSet:[dstSite1, dstSite2, ..., dstSiteN], and the set of locations corresponding to srcTZone, ordered chronologically, is srcSSet:[srcSite1, dstSite2, ..., srcSiteN]. Where: dstSite1 is the location at time 2, dstSiteN is the location at time 2 + dt; srcSite1 is the location at time 1 - dt, and srcSiteN is the location at time 1. Based on this, the set of potential steel coil moving saddle locations can be determined.

[0052] Mobile source / target saddle matching module:

[0053] The potential saddle location sets srcSSet and dstSSet are compared sequentially with the already defined saddle location intervals [S1min, S1max], [S2min, S2max], and [S3min, S3max], respectively. For example, for each time point, the location site in the srcSSet is taken, and it is determined whether the site is within [S1min, S1max], and a count is performed. That is, if S1min <= site <= S1max, the counter count is incremented by 1. The proportion of locations that meet the requirements is rao = count / totalCount. If rao >= threshold, then the saddle represented by this saddle location set is considered to be the saddle in the steel coil movement process. Where: totalCount is the number of elements in the srcSSet set, and threshold is the threshold value. Since the steel coil trolley may move across saddles, or the steel coil may be directly lifted away, the threshold should not be too small, and can generally be set to 0.4-0.5.

[0054] The srcSSet that satisfies the requirement rao>=threshold represents the source saddle during the coil movement process, and the dstSSet represents the target saddle during the coil movement process. The coil on the source saddle moves to the target saddle.

[0055] After determining the source saddle, target saddle, and coil of the steel coil, the server updates the cache accordingly. At the same time, the server clears the coil number position data of the source saddle on the PLC and updates the coil number position data of the target saddle to coil. The client also updates the corresponding tracking screen data.

[0056] As another embodiment of the present invention, a cold rolling process control system inlet and outlet saddle coil tracking system is also provided, characterized in that the system includes: a configuration module, a data acquisition module, and a trajectory tracking module;

[0057] The configuration module is used to establish a coordinate system and define the position range of each saddle in the coordinate system;

[0058] The data acquisition module is used to collect the occupancy signals of each saddle and the moving position of the steel coil trolley in real time.

[0059] The trajectory tracking module is used to obtain the source saddle and target saddle of the steel coil movement based on the occupancy signals of each saddle, the moving position of the steel coil trolley, and the saddle position range, and to perform steel coil movement trajectory tracking.

[0060] The configuration module includes information on each PLC device in the basic automation system: device type, network connection parameters, and data acquisition protocol parameters. It also includes photoelectric position signals for each saddle at the inlet and outlet, the horizontal movement position of the coil trolley, and coil number register position information: position number, register type, data block number, byte address, bit address, data type, data unit length, read / write mode, and acquisition cycle. Additionally, it includes network connection parameters for the process control system server. The operator completes the configuration on the process control system client configuration interface, saves the configuration information to the system database, and then saves it.

[0061] The data acquisition module establishes a network connection with the PLC device and collects saddle tracking point data at regular intervals: saddle occupancy signals at entrances and exits, movement position of the steel coil trolley, saddle coil number, etc.; it caches the steel coil number of the entrance saddle and the steel coil number of the exit saddle unloaded by the coiler sent by the client and writes them into the PLC device's point data.

[0062] In addition, the system also includes:

[0063] Entrance saddle far end roll-up module:

[0064] At the entrance of a metallurgical cold rolling production line, there are typically one or two uncoilers, each with three saddles. Before production, the overhead crane, according to the production plan, first hoists the steel coils to be produced to the farthest saddle in front of a particular uncoiler. Subsequently, the steel coil trolley is controlled to transport the coils sequentially along the trolley track to the saddles closest to the uncoiler. After the overhead crane completes the hoisting, the operator, on the saddle steel coil tracking monitoring screen of the process control system client, selects the corresponding steel coil number from the production plan steel coil number list and the saddle number hoisted by the overhead crane from the saddle list box. Then, the operator clicks the "Entrance Saddle Coil Loading" button, sending the saddle number and steel coil number information to the process control system server via a message. The server receives and caches the information, and according to the corresponding saddle steel coil number point configuration of the PLC, writes the data to the PLC register point, which serves as the initial value for entrance saddle steel coil tracking.

[0065] Export saddle near-end unloading module:

[0066] The cold rolling production line has three saddles in front of the coiler at the exit. From farthest from the coiler, these are the weighing saddle, the bundling saddle, and the hoisting saddle. After the steel coil is coiled by the coiler, the operator controls the exit coil trolley to move to the vicinity of the coiler. The trolley then rises vertically to a preset position, unloading the coil from the coiler onto the trolley. The trolley then moves to the weighing saddle and unloads the coil onto it. After the coil is unloaded from the coiler, the basic automation system generates an unloading signal, and the tracking unit on the process control system line records the unloaded coil number. A saddle occupancy signal is also generated after the coil is loaded onto the saddle. Coordinates have been pre-calibrated along the trolley's running track, and the positions of each saddle are determined. The server can collect the trolley's running position data. Based on the above signals, the stopping position of the trolley on the weighing saddle, and the unloaded coil number, the server can determine the coil number on the weighing saddle, cache the saddle number and coil number, and write the data to the PLC register position according to the corresponding saddle steel coil number position configuration of the PLC, thereby using it as the initial value for tracking the steel coil at the exit saddle.

[0067] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for tracking steel coils at the inlet and outlet saddle of a cold rolling process control system, characterized in that, The method includes: Step 1: Establish a coordinate system and mark the position range of each saddle in the coordinate system; Step 2: Collect the occupancy signals of each saddle and the moving position of the steel coil trolley in real time; Step 3: Based on the occupancy signals of the steel coil and each saddle, the moving position of the steel coil trolley, and the position range of each saddle, obtain the source saddle and target saddle for the movement of the steel coil, and perform steel coil movement trajectory tracking. In step 2, the real-time acquisition of the occupancy signal of each saddle includes: real-time acquisition and recording of each saddle occupancy signal, recording and buffering when the saddle occupancy signal changes, wherein the occupancy signal is denoted as (time, signal), where time is time in seconds, and signal is 0 or 1, representing no signal and signal, respectively. Step 3 includes: The steel coil moves between the saddles, that is, the source saddle state changes from having a signal and a coil number to having no signal and no coil number, and the target saddle state changes from having no signal and no coil number to having a signal and a coil number. When the source saddle signal is lost, the source saddle occupancy signal is recorded as (time1,0) and the coil number is recorded as coil. When the target saddle signal is obtained, the target saddle occupancy signal is recorded as (time2,1). Based on time1 and time2, determine the time intervals for the steel coil to enter and leave the saddle. The time interval dstTZone when the steel coil just enters the target saddle is denoted as [time2, time2+dt], and the time interval srcTZone when the steel coil just leaves the source saddle is denoted as [time1-dt, time1], where dt is the time length in seconds. Based on the key-value pairs (time, site) of the steel coil trolley positions, find the set of trolley positions corresponding to the time interval. The set of positions corresponding to dstTZone in chronological order is dstSSet:[dstSite1, …, dstSiteN], and the set of positions corresponding to srcTZone in chronological order is srcSSet:[srcSite1, …, srcSiteN], where: dstSite1 is the position at time2, dstSiteN is the position at time2+dt; srcSite1 is the position at time1-dt, and srcSiteN is the position at time1. This determines the set of potential steel coil moving saddle positions. The potential saddle position sets srcSSet and dstSSet are compared sequentially with the already labeled saddle position intervals, including: Take the position at each moment from the srcSSet or dstSSet set, and determine whether the position is within the marked saddle position interval. If it is, increment the counter count by 1. The proportion of positions that meet the requirements is rao = count / totalCount. If rao >= threshold, then the saddle represented by this saddle position set is considered to be the saddle in the steel coil movement process. Where: totalCount is the number of elements in the srcSSet or dstSSet set, and threshold is the threshold value. The saddle represented by the srcSSet set that meets the requirements is the source saddle in the steel coil movement process, and the saddle represented by the dstSSet set that meets the requirements is the target saddle in the steel coil movement process.

2. The method for tracking steel coils at the inlet and outlet saddle of the cold rolling process control system according to claim 1, characterized in that, Step 1 also includes configuring the saddles and steel coils, marking the saddle numbers of all saddles, and marking the coil numbers of all steel coils.

3. The method for tracking steel coils at the inlet and outlet saddle of the cold rolling process control system according to claim 1, characterized in that, In step 1, a coordinate system is established along the steel coil trolley track according to the direction of steel coil movement, and the position range of each saddle is marked, that is, the position of each saddle in the coordinate system.

4. A cold rolling process control system for tracking steel coils at the inlet and outlet saddle, characterized in that, The system includes: a configuration module, a data acquisition module, and a trajectory tracking module; The configuration module is used to establish a coordinate system and define the position range of each saddle in the coordinate system; The data acquisition module is used to collect the occupancy signals of each saddle and the moving position of the steel coil trolley in real time. The trajectory tracking module is used to obtain the source saddle and target saddle of the steel coil movement based on the occupancy signals of each saddle, the moving position of the steel coil trolley, and the saddle position range, and to perform steel coil movement trajectory tracking. The acquisition of the occupancy signal of each saddle includes: recording the occupancy signal of each saddle, recording and buffering when the occupancy signal of the saddle changes, wherein the occupancy signal is denoted as (time, signal), where time is the time in seconds, and signal is 0 or 1, representing no signal and signal, respectively. The trajectory tracking module, based on the moving position of the steel coil trolley and the saddle position range, obtains the source saddle and target saddle for the movement of the steel coil, including: The steel coil moves between the saddles, that is, the source saddle state changes from having a signal and a coil number to having no signal and no coil number, and the target saddle state changes from having no signal and no coil number to having a signal and a coil number. When the source saddle signal is lost, the source saddle occupancy signal is recorded as (time1,0) and the coil number is recorded as coil. When the target saddle signal is obtained, the target saddle occupancy signal is recorded as (time2,1). Based on time1 and time2, determine the time intervals for the steel coil to enter and leave the saddle. The time interval dstTZone when the steel coil just enters the target saddle is denoted as [time2, time2+dt], and the time interval srcTZone when the steel coil just leaves the source saddle is denoted as [time1-dt, time1], where dt is the time length in seconds. Based on the key-value pairs (time, site) of the steel coil trolley positions, find the set of trolley positions corresponding to the time interval. The set of positions corresponding to dstTZone in chronological order is dstSSet:[dstSite1, …, dstSiteN], and the set of positions corresponding to srcTZone in chronological order is srcSSet:[srcSite1, …, srcSiteN], where: dstSite1 is the position at time2, dstSiteN is the position at time2+dt; srcSite1 is the position at time1-dt, and srcSiteN is the position at time1. This determines the set of potential steel coil moving saddle positions. The potential saddle position sets srcSSet and dstSSet are compared sequentially with the already labeled saddle position intervals, including: Take the position at each moment from the srcSSet or dstSSet set, and determine whether the position is within the marked saddle position interval. If it is, increment the counter count by 1. The proportion of positions that meet the requirements is rao = count / totalCount. If rao >= threshold, then the saddle represented by this saddle position set is considered to be the saddle in the steel coil movement process. Where: totalCount is the number of elements in the srcSSet or dstSSet set, and threshold is the threshold value. The saddle represented by the srcSSet set that meets the requirements is the source saddle in the steel coil movement process, and the saddle represented by the dstSSet set that meets the requirements is the target saddle in the steel coil movement process.

5. The inlet and outlet saddle coil tracking system of the cold rolling process control system according to claim 4, characterized in that, The configuration module is also used to configure the saddles and steel coils, and to mark the saddle numbers of all saddles and the coil numbers of all steel coils.

6. The inlet and outlet saddle coil tracking system of the cold rolling process control system according to claim 4, characterized in that, The configuration module establishes a coordinate system along the steel coil trolley track according to the direction of steel coil movement, and marks the position range of each saddle, that is, the position of each saddle in the coordinate system.

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