A method for realizing animation of a joint at a loop

Abstract

The invention provides an animation realization method of a joint at a loop, belonging to the technical field of joint tracking. The method continuously and periodically samples the actual running length of the joint, and then accumulates and calculates the real-time running length of each sampling period to obtain the actual running length of the joint after passing through the loop entrance reference point; then designs a calculation formula for the length of each layer, distributes the fixed length in the loop trolley to each layer, and uses a loop encoder to collect the distance between the reference point of the loop trolley and the empty emergency stop point in real time to obtain the length of each layer; divides the actual running length by the length of each layer to determine the number of the current layer where the joint is located; then obtains the length of the current layer in an HMI human-machine interface and the X-axis coordinate value of the endpoint of the current layer in the HMI human-machine interface, and finally determines the X-axis coordinate of the joint icon, and uses the method to realize real-time tracking of the actual position of the joint in the HMI human-machine interface.

Description

Technical Field

[0001] The invention belongs to the technical field of joint tracking, and in particular relates to a method for realizing animation of a joint at a looper. Background Art

[0002] The horizontal looper is arranged at the entrance section and / or exit section of the plate and strip processing line for storing the plate and strip. When changing the coils at the entrance section, the horizontal looper will be released to facilitate the continuous process flow. After the coil change at the entrance section is completed, the looper will be filled.

[0003] like Figure 2 As shown, during the release process, the steering roller distribution area 10 in the looping trolley will move to the left, and the plate strip of each layer in the looping area 20 will be shortened; during the filling process, the steering roller distribution area 10 in the looping trolley will move to the right, and the plate strip of each layer in the looping area 20 will be lengthened; however, the moving position of the steering roller distribution area 10 is not arbitrary, the limit position of the release is the empty emergency stop point, and the limit position of the filling is the full emergency stop point.

[0004] In the actual production process, it is very necessary to track the position of the joint in the loop, so that the staff can determine the position of the joint in time, which is convenient for subsequent process operations. However, the loop structure is complex, and the total length of the strip that can be stored in the loop will change during the filling / discharging process, which increases the difficulty of tracking the position of the joint in the loop. Summary of the invention

[0005] In view of the problems existing in the above-mentioned prior art, the present invention provides a method for realizing animation of a joint at a loop. The technical problem to be solved by the present invention is how to track the specific position of the joint in the horizontal loop and present it in the HMI human-machine interface.

[0006] In order to solve the above technical problems, the present invention provides a method for realizing animation of a joint at a loop, comprising the following steps:

[0007] Step S1: Draw the equipment process diagram on the HMI human-machine interface;

[0008] Step S2: In the HMI human-machine interface device bus layout diagram, according to the actual on-site limit position of the looper trolley movement and the structure of the looper, set the looper trolley reference point, empty emergency stop point, full emergency stop point, looper entry reference point and looper exit reference point;

[0009] Step S3: During the running of the plate strip, the actual running length of the joint entering the loop and the distance between the reference point of the loop trolley and the empty emergency stop point are obtained to determine the current layer where the actual joint is located and the horizontal length of the joint on the current layer;

[0010] Step S4: Obtain the length of the current layer in the HMI human-machine interface and the X-axis coordinate value of the endpoint of the current layer in the HMI human-machine interface, and then determine the X-axis coordinate of the joint icon to achieve real-time tracking of the actual position of the joint in the HMI human-machine interface.

[0011] Furthermore, in step S3, starting from the time when the joint passes through the reference point of the entrance of the loop, the joint tracking system continuously and periodically samples the actual running length of the joint, and the joint tracking system accumulates and calculates the real-time running length of multiple sampling periods during the operation of the joint in real time to obtain the actual running length of the joint in the loop; when the joint passes through the reference point of the exit of the loop, the tracking system ends the length measurement.

[0012] Furthermore, in the HMI human-machine interface, the combined display of the upper-layer line segments and the lower-layer line segments and the corresponding script code control are used to display and assign colors to the tracking of the joint in the loop. Specifically, in the HMI human-machine interface, the program uses the upper-layer line segments and the lower-layer line segments to display the line segments in the loop; in the step S3, when the joint icon does not pass through the loop entry reference point, in the loop on the HMI human-machine interface, the line segment from the loop entry reference point to the loop exit reference point is displayed only with the upper-layer line segments, and its color is determined by the color code of the upper-layer line segments; while the joint tracking system measures the length of the joint's movement in the loop, the color codes of the upper-layer line segments and the lower-layer line segments are reassigned. value, the line segment that the connector icon passes through in the loop on the HMI human-machine interface is displayed with the upper line segment, and its color is determined by the color code of the upper line segment; the line segment that the connector icon does not pass through in the loop on the HMI human-machine interface is displayed with the lower line segment, and its color is determined by the color code of the lower line segment; as the connector icon moves, the upper line segment will gradually cover the lower line segment; when the connector icon passes through the loop exit reference point, the line segment from the loop entry reference point to the loop exit reference point is only displayed as the upper line segment.

[0013] Furthermore, in step S3, the distance between the reference point of the loop trolley and the empty emergency stop point can be obtained through the pulse fed back by the loop encoder.

[0014] Furthermore, the joint tracking system includes a joint tracking module and an accumulation function module. When the joint passes through the loop entrance reference point, the joint tracking module starts to count the length. A speed main roller is arranged on the plate strip processing line. The encoder of the speed main roller transmits the actual speed of the plate strip in the first sampling cycle to the accumulation function module. The accumulation function module calculates the real-time running length of the joint in the first sampling cycle.

[0015] The joint continues to move forward, and the encoder of the speed main roller transmits the actual speed of the plate strip in the second sampling cycle to the accumulation function module. The accumulation function module calculates the real-time running length of the joint in the second sampling cycle, and accumulates it with the real-time running length of the first sampling cycle; and so on, the calculated real-time running length of the next sampling cycle is accumulated with the accumulated calculation result of all previous sampling cycles, and a new accumulated calculation result is output, that is, the actual running length of the joint in the loop.

[0016] Furthermore, the calculation formula of the running length of the joint within the sampling period is as follows:

[0017] L = (v / 1000) × T

[0018] Wherein, L is the running length of the joint during the sampling period, mm; v is the actual speed of the joint during the sampling period, mm / s; T is the sampling period, ms.

[0019] Furthermore, the real-time running length corresponding to each sampling period is accumulated in the following manner:

[0020] The accumulated value is first placed on the percentile variable for accumulation;

[0021] When the value of the percentile variable is greater than or equal to 0.1, the percentile variable value is added to the tenth digit variable, and the percentile variable is reset to zero;

[0022] When the value of the tenth digit variable is greater than or equal to 1.0, the tenth digit variable value is added to the stored cumulative value variable, and the tenth digit variable is cleared at the same time; wherein the stored cumulative value variable is ≥1.0.

[0023] By using the above-mentioned accumulation algorithm, the real-time length values ​​collected are accumulated layer by layer, which can effectively avoid the error caused by the limitation of the effective digits of large data plus small data in the program. The advantage of this is that the error of the final accumulated length value will not exceed 1mm. Further, in step S3, the current layer where the joint is located is determined by the following calculation formula:

[0024] Ln=|Ls / LSN|+1

[0025] Among them, Ln is the number of the current layer where the joint is located, which is an integer; Ls is the actual running length of the joint in the loop; LSN is the length of each current layer;

[0026] The value range of Ln is 1, 2...LL, and the corresponding relationship is: 1 corresponds to the first layer 1, 2 corresponds to the second layer 2..., LL corresponds to the LLth layer; LL is the number of layers of the plate strip wound in the looper, and according to the structure of the looper, LL is an even number;

[0027] The calculation formula for the current length of each layer is as follows:

[0028] LSN=h+LFN

[0029] Where h is the distance between the loop entry reference point and the empty emergency stop point; LFN is the length of the fixed length LF averagely distributed to each layer

[0030] Furthermore, in step S3, the horizontal length of the joint in the current layer is calculated using the following formula:

[0031] Lns=Ls Mod LSN

[0032] Lns is the horizontal length of the joint in the current layer.

[0033] Furthermore, in the step S4, in the HMI human-machine interface, the moving direction of the joint icon in the loop is set to be opposite for the odd-numbered layers and the even-numbered layers; the length of each layer in the actual site is converted proportionally into the length WLn of the current layer in the HMI human-machine interface;

[0034] When the joint is located on an odd-numbered layer, the calculation formula for the X-axis coordinate of the joint icon in the loop on the HMI human-machine interface is:

[0035] The X-axis coordinate of the connector icon = the X-axis coordinate of the left end point of the current layer in the HMI human-machine interface + WLn×Lns / LSN;

[0036] When the joint is on an even-numbered layer, the calculation formula for the X-axis coordinate of the joint in the loop on the HMI human-machine interface is:

[0037] The X-axis coordinate of the connector icon = the X-axis coordinate of the left end point of the current layer in the HMI human-machine interface + (WLn-WLn×Lns / LSN);

[0038] The position of the left endpoint of the first layer in the HMI human-machine interface coincides with the loop entry reference point; the position of the left endpoint of the LL layer in the HMI human-machine interface coincides with the loop exit reference point; the positions of the left endpoints of the remaining layers in the HMI human-machine interface are the tangent points of the rotating roller and the strip.

[0039] The invention provides an animation realization method of a joint at a loop, which comprises the following steps: sampling the actual running length of the joint continuously and periodically, and then accumulating and calculating the real-time running length of each sampling period to obtain the actual running length of the joint after passing through a loop entrance reference point; then designing a calculation formula for the length of each layer, allocating the fixed length in a loop trolley to each layer, and using a loop encoder to collect the distance between the reference point of the loop trolley and an empty emergency stop point in real time to obtain the length of each layer; dividing the actual running length by the length of each layer to determine the number of the current layer where the joint is located; then obtaining the length of the current layer in an HMI human-machine interface and the X-axis coordinate value of the left endpoint of the current layer in the HMI human-machine interface, and finally determining the X-axis coordinate of a joint icon, and using the method to realize real-time tracking of the actual position of the joint in the HMI human-machine interface.

[0040] The present invention provides an animation realization method of a joint at a loop. In an HMI human-machine interface, a program uses an upper layer line segment and a lower layer line segment to display a line segment in the loop. When a joint icon does not pass through a loop entry reference point, in the loop on the HMI human-machine interface, a line segment from the loop entry reference point to the loop exit reference point is displayed only with an upper layer line segment, and its color is determined by a color code of the upper layer line segment. When a joint tracking system measures the length of the joint running in the loop, the color codes of the upper layer line segment and the lower layer line segment are displayed. Re-assign values. The line segments that the connector icon passes through in the loop on the HMI human-machine interface are displayed with the upper line segments, and their colors are determined by the color code of the upper line segments; the line segments that the connector icon does not pass through in the loop on the HMI human-machine interface are displayed with the lower line segments, and their colors are determined by the color code of the lower line segments; as the connector icon moves, the upper line segments will gradually cover the lower line segments; when the connector icon passes through the loop exit reference point, the line segment from the loop entry reference point to the loop exit reference point is only displayed as the upper line segment. In this way, the colors on both sides of the connector icon are different, making the connector icon clearly visible. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a flow chart of a method for realizing animation of a joint at a looper according to the present invention.

[0042] Figure 2 It is a schematic diagram of the loop structure of a method for realizing animation of a joint at a loop of the present invention; the dotted line in the figure only indicates the range of the loop area, which does not exist in the loop structure.

[0043] Figure 3 It is a schematic diagram of fixed length and variable length of a method for realizing animation of a joint at a looper of the present invention;

[0044] Figure 4It is a schematic diagram of a joint icon running in an odd-numbered layer in a method for realizing an animation of a joint at a loop of the present invention; the arrow in the figure is the forward direction of the joint icon;

[0045] Figure 5 It is a schematic diagram of a joint icon running in an even-numbered layer in a method for realizing an animation of a joint at a loop of the present invention; the arrow in the figure is the forward direction of the joint icon;

[0046] Figure 6 It is a schematic diagram of the left endpoint of the lower layer line segment of the current layer of the animation realization method of the joint at the loop of the present invention.

[0047] The reference numerals are as follows:

[0048] A. Loop entrance reference point; B. Loop exit reference point; C. Loop trolley reference point; D. Empty emergency stop point; E. Full emergency stop point; h. Distance between the loop trolley reference point and the empty emergency stop point; H. Distance between the empty emergency stop point and the full emergency stop point; F. Left endpoint of the lower layer line segment of the current layer; 1. First layer; 2. Second layer; 3. Third layer; 4. Fourth layer; 5. Fifth layer; 6. Sixth layer; 10. Steering roller distribution area; 20. Loop measurement area; 30. Reel; 40. Track; 50. Plate and strip; 60. Rotating roller; 70. Upper layer line segment; 80. Lower layer line segment. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0052] In order to better understand the purpose, structure and function of the present invention, the following further describes in detail the method for realizing animation of a joint at a looper of the present invention in conjunction with the accompanying drawings.

[0053] The following is an introduction to the structure of the looper:

[0054] The looper includes a looper trolley and a drum 30, the looper trolley includes a steering roller distribution area 10 and a looping measuring area 20, the steering roller distribution area 10 is connected with the looping measuring area 20 through a plate belt 50, and the steering roller distribution area 10 is connected with the drum 30 through a wire rope;

[0055] During the process of filling and releasing the loop, the drum 30 pulls the wire rope, driving the steering roller distribution area 10 to move along the track 40, changing the distance between the steering roller distribution area 10 and the empty emergency stop point D, and the length of the plate strip 50 in the loop area 20 changes, while the length of the plate strip 50 in the steering roller distribution area 10 does not change.

[0056] A loop entry reference point A is set at the loop entry. When the joint passes through the loop entry reference point A, the joint detection device transmits a signal back to the joint tracking system.

[0057] The tangent point between the steering roller and the plate strip 50 near the measurement area 20 in the steering roller distribution area 10 is selected as the reference point C of the looping trolley;

[0058] The empty emergency stop point D and the full emergency stop point E are set according to the actual extreme positions of the movement of the steering roller distribution area 10 on site; the distance between the reference point of the loop trolley and the empty emergency stop point is set to h, and this value changes continuously during the charging and discharging process; the distance between the empty emergency stop point and the full emergency stop point is set to H.

[0059] The layers are numbered 1, 2, 3...LL according to the order in which the plate strip 50 passes through the looper, where LL is the number of layers. Here, a six-layer looper is taken as an example, and the order in which the first layer 1, the second layer 2, the third layer 3, the fourth layer 4, the fifth layer 5 and the sixth layer 6 are set is as follows: Figure 2 shown.

[0060] The length of the plate strip 50 in the loop is the sum of the fixed length LF and the variable length LV, expressed as LS, and has the following relationship:

[0061] LS = LF + LV;

[0062] like Figure 3 As shown, the fixed length LF refers to the length that does not contribute to the sleeve quantity when filling / discharging the sleeve; the fixed length LF includes the length of the plate strip 50 in the turning roller distribution area 10 and the length of the plate strip 50 between the empty emergency stop point D and the left rotating roller 60 in the sleeve quantity area 20, that is, the sum of the lengths of the plate strip in the LF1 range and the LF2 range;

[0063] like Figure 3As shown, the variable length LV refers to the length that contributes to the sleeve quantity when the sleeve is filled / released; the variable length LV is the length of the plate strip 50 between the reference point C of the looper trolley and the empty emergency stop point D within the LV range, that is, the length of the plate strip within the LV range;

[0064] The formula for variable length LV is calculated as follows:

[0065] LV=h×LL.

[0066] Embodiment 1:

[0067] like Figure 1 As shown, the present invention provides a method for realizing animation of a joint at a loop, comprising the following steps:

[0068] Step S1: Draw the equipment process diagram on the HMI human-machine interface;

[0069] Step S2: In the HMI human-machine interface device bus layout diagram, according to the actual on-site limit position of the looper trolley movement and the structure of the looper, set the looper trolley reference point C, empty emergency stop point D, full emergency stop point E, looper entry reference point A and looper exit reference point B;

[0070] Step S3: During the running of the plate strip, the actual running length of the joint entering the loop and the distance h between the reference point of the loop trolley and the empty emergency stop point are obtained to determine the current layer where the actual joint is located and the horizontal length of the joint on the current layer;

[0071] Step S4: Obtain the length of the current layer in the HMI human-machine interface and the X-axis coordinate value of the endpoint of the current layer in the HMI human-machine interface, and then determine the X-axis coordinate of the joint icon to achieve real-time tracking of the actual position of the joint in the HMI human-machine interface.

[0072] Embodiment 2:

[0073] like Figure 1 As shown, the present invention provides a method for realizing animation of a joint at a loop, comprising the following steps:

[0074] Step S1: Draw the equipment process diagram on the HMI human-machine interface;

[0075] Step S2: In the HMI human-machine interface device bus layout diagram, according to the actual on-site limit position of the looper trolley movement and the structure of the looper, set the looper trolley reference point C, empty emergency stop point D, full emergency stop point E, looper entry reference point A and looper exit reference point B;

[0076] Step S3: During the running of the plate strip, the actual running length of the joint entering the loop and the distance h between the reference point of the loop trolley and the empty emergency stop point are obtained to determine the current layer where the actual joint is located and the horizontal length of the joint on the current layer;

[0077] Step S4: Obtain the length of the current layer in the HMI human-machine interface and the X-axis coordinate value of the endpoint of the current layer in the HMI human-machine interface, and then determine the X-axis coordinate of the joint icon to achieve real-time tracking of the actual position of the joint in the HMI human-machine interface.

[0078] The difference between this embodiment and the first embodiment is that:

[0079] like Figure 4 and Figure 5 As shown, the connector icon is represented by a cross icon.

[0080] In step S3, starting from the time when the joint passes through the reference point A at the entrance of the loop, the joint tracking system continuously and periodically samples the actual running length of the joint, and the joint tracking system accumulates and calculates the real-time running length of multiple sampling periods during the operation of the joint in real time to obtain the actual running length of the joint in the loop; when the joint passes through the reference point B at the exit of the loop, the tracking system ends the length measurement.

[0081] In step S3, a speed main roller is arranged on the plate strip processing line. The plate strip processing line includes three sections: an inlet section, a process section and an outlet section, and a speed main roller is arranged on each section.

[0082] The joint tracking system includes a joint tracking module and an accumulation function module. When the joint passes through the loop entrance reference point A, the joint tracking module starts to measure the length; the encoder of the speed main roller transmits the actual speed of the plate strip 50 in the first sampling cycle to the accumulation function module, and the accumulation function module calculates the real-time running length of the joint in the first sampling cycle;

[0083] The joint continues to move forward, and the encoder of the speed main roller transmits the actual speed of the plate strip in the second sampling cycle to the accumulation function module. The accumulation function module calculates the real-time running length of the joint in the second sampling cycle, and accumulates it with the real-time running length of the first sampling cycle; and so on, the calculated real-time running length of the next sampling cycle is accumulated with the accumulated calculation result of all previous sampling cycles, and a new accumulated calculation result is output, that is, the actual running length of the joint in the loop.

[0084] The sampling period is preferably 20ms and does not exceed 100ms; the actual speed within one sampling period is a constant value.

[0085] The output type of the accumulation function module is double integer output with an accuracy of 1mm; since the HMI human-machine interface does not support the length of the line segment with a decimal point, the double integer output is selected.

[0086] The running length of the joint within the sampling period is calculated as follows:

[0087] L = (v / 1000) × T

[0088] Wherein, L is the running length of the joint during the sampling period, mm; v is the actual speed of the joint during the sampling period, mm / s; T is the sampling period, ms.

[0089] The real-time run length corresponding to each sampling period is accumulated in the following way:

[0090] The accumulated value is first placed on the percentile variable for accumulation;

[0091] When the value of the percentile variable is greater than or equal to 0.1, the percentile variable value is added to the tenth digit variable, and the percentile variable is reset to zero;

[0092] When the value of the tenth digit variable is greater than or equal to 1.0, the tenth digit variable value is added to the stored cumulative value variable, and the tenth digit variable is cleared at the same time; wherein the stored cumulative value variable is ≥1.0.

[0093] By using the above-mentioned accumulation algorithm, the collected real-time length values ​​are accumulated layer by layer, which can effectively avoid the error caused by the limitation of the effective number of bits of large data plus small data in the program. The advantage of this is that the error of the final accumulated length value will not exceed 1mm. In step S3, the distance h between the reference point C of the looping trolley and the empty emergency stop point D can be obtained through the pulse feedback from the looping encoder.

[0094] Embodiment 3:

[0095] like Figure 1 As shown, the present invention provides a method for realizing animation of a joint at a loop, comprising the following steps:

[0096] Step S1: Draw the equipment process diagram on the HMI human-machine interface;

[0097] Step S2: In the HMI human-machine interface device bus layout diagram, according to the actual on-site limit position of the looper trolley movement and the structure of the looper, set the looper trolley reference point C, empty emergency stop point D, full emergency stop point E, looper entry reference point A and looper exit reference point B;

[0098] Step S3: During the running of the plate strip, the actual running length of the joint entering the loop and the distance h between the reference point of the loop trolley and the empty emergency stop point are obtained to determine the current layer where the actual joint is located and the horizontal length of the joint on the current layer;

[0099] Step S4: Obtain the length of the current layer in the HMI human-machine interface and the X-axis coordinate value of the endpoint of the current layer in the HMI human-machine interface, and then determine the X-axis coordinate of the joint icon to achieve real-time tracking of the actual position of the joint in the HMI human-machine interface.

[0100] The difference between this embodiment and the above embodiments is that:

[0101] In step S3, the layer where the joint is located is determined using the following calculation formula:

[0102] Ln=|Ls / LSN|+1

[0103] Among them, Ln is the number of the current layer where the joint is located, which is an integer; Ls is the actual running length of the joint in the loop; LSN is the length of each current layer;

[0104] The value range of Ln is 1, 2…LL, and the corresponding relationship is: 1 corresponds to the first layer 1, 2 corresponds to the second layer 2…, LL corresponds to the LLth layer; LL is the number of layers of the plate strip wound in the loop, and according to the structure of the loop, LL can only be an even number.

[0105] The calculation formula for the current length of each layer is as follows:

[0106] LSN=h+LFN

[0107] Wherein, h is the distance between the loop entrance reference point and the empty emergency stop point; LFN is the length of the fixed length LF averagely distributed to each layer.

[0108] In step S3, the horizontal length of the joint in the current layer is calculated using the following formula:

[0109] Lns=Ls Mod LSN

[0110] Lns is the horizontal length of the joint in the current layer;

[0111] In the step S4, in the HMI human-machine interface, the moving direction of the joint icon in the loop is set to be opposite for the odd-numbered layers and the even-numbered layers;

[0112] In the step S4, in the HMI human-machine interface, the length LSN of each layer in the actual scene is converted into the length WLn of the current layer in the HMI human-machine interface in proportion;

[0113] When the joint is located on an odd-numbered layer, the calculation formula for the X-axis coordinate of the joint icon in the loop on the HMI human-machine interface is:

[0114] The X-axis coordinate of the connector icon = the X-axis coordinate of the left end point of the current layer in the HMI human-machine interface + WLn×Lns / LSN;

[0115] When the joint is on an even-numbered layer, the calculation formula for the X-axis coordinate of the joint in the loop on the HMI human-machine interface is:

[0116] The X-axis coordinate of the connector icon = the X-axis coordinate point of the left end point of the current layer in the HMI human-machine interface + (WLn-WLn×Lns / LSN).

[0117] like Figure 6 As shown in the figure, the position of the left endpoint F of the current layer in the HMI human-machine interface, here we take the six-layer looper as an example:

[0118] The position of the left end point of the first layer 1 in the HMI human-machine interface coincides with the loop entry reference point A;

[0119] The positions of the left end points of the second layer 2, the third layer 3, the fourth layer 4 and the fifth layer 5 in the HMI human-machine interface are the tangent points of the rotating roller 60 and the strip;

[0120] The position of the left end point of the sixth layer in the HMI human-machine interface coincides with the loop exit reference point B.

[0121] In the HMI human-machine interface, the combined display of the upper and lower line segments and the corresponding script code control are used to display and assign colors to the tracking of the joint in the loop. Figure 4 and Figure 5 As shown, in the HMI human-machine interface, the program uses the upper line segment 70 and the lower line segment 80 to display the line segments in the loop; in the step S3, when the joint icon does not pass through the loop entry reference point, in the loop on the HMI human-machine interface, the line segment from the loop entry reference point A to the loop exit reference point B is displayed only by the upper line segment 70, and its color is determined by the color code of the upper line segment 70; while the joint tracking system measures the length of the joint running in the loop, the joint tracking system re-calculates the color codes of the upper line segment 70 and the lower line segment 80. New assignment, the line segment that the connector icon passes through in the loop on the HMI human-machine interface is displayed with the upper line segment 70, and its color is determined by the color code of the upper line segment 70; the line segment that the connector icon does not pass through in the loop on the HMI human-machine interface is displayed with the lower line segment 80, and its color is determined by the color code of the lower line segment 80; as the connector icon moves, the upper line segment 70 will gradually cover the lower line segment 80; when the connector icon passes through the loop exit reference point, the line segment from the loop entry reference point A to the loop exit reference point B is only displayed as the upper line segment 70.

[0122] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A method for realizing animation of a joint at a loop, characterized in that: The following steps are involved: Step S1: Draw the equipment process diagram on the HMI human-machine interface; Step S2: In the HMI human-machine interface device bus layout diagram, according to the actual on-site limit position of the looper trolley movement and the structure of the looper, set the looper trolley reference point, empty emergency stop point, full emergency stop point, looper entry reference point and looper exit reference point; Step S3: During the running of the plate strip, the actual running length of the joint entering the loop and the distance between the reference point of the loop trolley and the empty emergency stop point are obtained to determine the current layer where the actual joint is located and the horizontal length of the joint on the current layer; Use the following calculation formula to determine the current layer where the joint is located: Ln=|Ls / LSN|+1 Among them, Ln is the number of the current layer where the joint is located, which is an integer; Ls is the actual running length of the joint in the loop; LSN is the length of each current layer; The value range of Ln is 1, 2...LL, and the corresponding relationship is: 1 corresponds to the first layer 1, 2 corresponds to the second layer 2..., LL corresponds to the LLth layer; LL is the number of layers of the plate strip wound in the looper, and according to the structure of the looper, LL is an even number; The calculation formula for the current length of each layer is as follows: LSN=h+LFN Among them, h is the distance between the loop entrance reference point and the empty emergency stop point; LFN is the length of the fixed length LF averagely distributed to each layer; Step S4: Obtain the length of the current layer in the HMI human-machine interface and the X-axis coordinate value of the endpoint of the current layer in the HMI human-machine interface, and then determine the X-axis coordinate of the joint icon to achieve real-time tracking of the actual position of the joint in the HMI human-machine interface.

2. The method for realizing the animation of a joint at a loop according to claim 1, characterized in that: In step S3, starting from the time when the joint passes through the reference point of the entrance of the loop, the joint tracking system continuously and periodically samples the actual running length of the joint, and the joint tracking system performs real-time cumulative calculation of the real-time running length of multiple sampling periods during the operation of the joint to obtain the actual running length of the joint in the loop; when the joint passes through the reference point of the exit of the loop, the tracking system ends the length measurement.

3. The method for realizing the animation of the joint at the loop according to claim 2 is characterized in that: In the HMI human-machine interface, the tracking of the joint in the loop is displayed and the color is assigned by utilizing the combined display of the upper layer line segment and the lower layer line segment and the corresponding script code control.

4. The method for realizing the animation of a joint at a loop according to claim 1, characterized in that: In step S3, the distance between the reference point of the loop trolley and the empty emergency stop point can be obtained through the pulse fed back by the loop encoder.

5. The method for realizing the animation of the joint at the loop according to claim 4 is characterized in that: The joint tracking system includes a joint tracking module and an accumulation function module. When the joint passes the loop entrance reference point, the joint tracking module starts to count the length. A speed main roller is provided on the plate strip processing line. The encoder of the speed main roller transmits the actual speed of the plate strip in the first sampling cycle to the accumulation function module. The accumulation function module calculates the real-time running length of the joint in the first sampling cycle. The joint continues to move forward, and the encoder of the speed main roller transmits the actual speed of the plate strip in the second sampling cycle to the accumulation function module. The accumulation function module calculates the real-time running length of the joint in the second sampling cycle, and accumulates it with the real-time running length of the first sampling cycle; and so on, the calculated real-time running length of the next sampling cycle is accumulated with the accumulated calculation result of all previous sampling cycles, and a new accumulated calculation result is output, that is, the actual running length of the joint in the loop.

6. The method for realizing the animation of the joint at the loop according to claim 5, characterized in that: The running length of the joint within the sampling period is calculated as follows: L = (v / 1000) × T Wherein, L is the running length of the joint during the sampling period, mm; v is the actual speed of the joint during the sampling period, mm / s; T is the sampling period, ms.

7. The method for realizing the animation of a joint at a loop according to claim 6, characterized in that: The real-time run length corresponding to each sampling period is accumulated in the following way: The accumulated value is first placed on the percentile variable for accumulation; When the value of the percentile variable is greater than or equal to 0.1, the percentile variable value is added to the tenth digit variable, and the percentile variable is reset to zero; When the value of the tenth digit variable is greater than or equal to 1.0, the tenth digit variable value is added to the stored cumulative value variable, and the tenth digit variable is cleared at the same time; wherein the stored cumulative value variable is ≥1.

0.

8. The method for realizing the animation of a joint at a loop according to claim 1, characterized in that: In step S3, the horizontal length of the joint in the current layer is calculated using the following formula: Lns=Ls Mod LSN Lns is the horizontal length of the joint in the current layer.

9. The method for realizing the animation of a joint at a loop according to claim 8, characterized in that: In the step S4, in the HMI human-machine interface, the moving direction of the joint icon in the loop is set to be opposite for odd-numbered layers and even-numbered layers; the length of each layer in the actual scene is converted into the length WLn of the current layer in the HMI human-machine interface in proportion; When the joint is located on an odd-numbered layer, the calculation formula for the X-axis coordinate of the joint icon in the loop on the HMI human-machine interface is: The X-axis coordinate of the connector icon = the X-axis coordinate of the left end point of the current layer in the HMI human-machine interface + WLn×Lns / LSN; When the joint is on an even-numbered layer, the calculation formula for the X-axis coordinate of the joint in the loop on the HMI human-machine interface is: The X-axis coordinate of the connector icon = the X-axis coordinate of the left end point of the current layer in the HMI human-machine interface + (WLn-WLn×Lns / LSN); The position of the left endpoint of the first layer in the HMI human-machine interface coincides with the loop entry reference point; the position of the left endpoint of the LL layer in the HMI human-machine interface coincides with the loop exit reference point; the positions of the left endpoints of the remaining layers in the HMI human-machine interface are the tangent points of the rotating roller and the strip.

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