Method and device for packing steel sheets from a steel sheet decoiling line

Abstract

A steel coil decoiling line steel plate packing method, comprising: S1, before the steel coil decoiling line packs the decoiled steel plate, first data acquisition is carried out to the decoiled steel plate through the video monitoring system, and the weight of the decoiled steel plate group is calculated based on the collected data and calculation formula;S2, in the digital twin model constructed in advance for the steel coil decoiling line, a plane coordinate system including X axis and Y axis is established, the length, width, thickness, quantity, weight and relative position relationship of the decoiled steel plate stack of the decoiled steel plate group are determined, the center of gravity position of the decoiled steel plate group is calculated, and then the best packing scheme in the hoisting process is generated through packing simulation according to the preset best packing principle;It can intelligently determine the best packing position, then automatically complete the packing process, not only can ensure the stability and safety of hoisting after packing, but also can intelligently learn and continuously improve the stability and safety.

Description

Technical fields:

[0001] This invention relates to the field of steel coil leveling line technology, and more specifically to a method and apparatus for packaging leveled steel plates from a steel coil leveling line. Background technology:

[0002] A steel coil slitting line, also known as a slitting and shearing line or an uncoiling line, is a device used to uncoil, level, cut to length, and shear metal coils into flat sheets of the required length. Major steel coil slitting line products on the market include automatic punching feeders, three-in-one servo feeders, and hydraulic shearing machines. The main function of a steel coil slitting line is to process metal coils into sheets of specific sizes and shapes to meet the needs of different industries. These machines can be customized according to specific user requirements to meet diverse production needs. It is suitable for processing cold-rolled and hot-rolled carbon steel, silicon steel, tinplate, stainless steel, and various surface-coated metal materials, with a slitting thickness generally between 8-25mm.

[0003] During the final packaging and stacking process, the stacked leveled steel plates need to be bundled together with strapping before being lifted and transferred to the finished product storage area. Due to the significant weight and large length-to-width ratio of the leveled steel plates, several problems arise during lifting. For example, improper lifting angles and positions can lead to imbalance and instability after lifting, causing tilting and potential accidents. Inappropriate strapping points can also cause excessive wear and tear on the strapping points during lifting, resulting in the steel plates being compressed and deformed. Therefore, choosing appropriate packaging and strapping locations is crucial to avoiding these problems. Summary of the Invention:

[0004] To address the aforementioned problems and overcome the shortcomings of existing technologies, this invention provides a method and apparatus for packaging leveled steel plates from a steel coil leveling line.

[0005] To achieve the above objectives, the present invention provides a method for packaging leveled steel plates from a steel coil leveling line, comprising:

[0006] S1. Before the steel coil slitting line packages the slitting steel plates, the slitting steel plates are first collected through a video monitoring system, and the weight of the slitting steel plate group is calculated based on the collected data and calculation formula.

[0007] S2. In the digital twin model pre-built for the steel coil leveling line, a planar coordinate system including the X-axis and Y-axis is established. Based on the determined length, width, thickness, quantity, weight and the relative position of the stacked leveling steel plate group, the center of gravity position of the leveling steel plate group is calculated. Then, according to the preset optimal packing principle, the optimal packing scheme in the lifting process is generated through packing simulation.

[0008] S3. Conduct packaging and lifting simulation tests in the digital twin simulation model, monitor the occurrence of faults and dangerous situations, and record the results in the database in real time;

[0009] S4. The packaging scheme verified through simulation is fed back to the steel coil leveling line, which then adjusts the position of the leveled steel plate to ensure that the leveled steel plate is packaged in the optimal position and remains in the most stable and balanced state during lifting.

[0010] Furthermore, in step S3, the data recorded in the database includes the length, width, thickness, quantity, weight, center of gravity position, packaging plan, simulated inspection process data and result data of the leveled steel plate. The length, width, thickness and quantity are used as marker values, and the weight, center of gravity position, packaging plan, simulated inspection process data and result data are used as reference values. The marker values ​​and reference values ​​are matched one-to-one to form a database and form a mapping relationship.

[0011] Furthermore, machine learning is performed based on the database to identify the mapping relationship between the labeled values ​​and the reference values ​​to form a recognition model. The recognition model can identify the labeled values ​​of the steel plates being leveled on the steel coil leveling line based on video images obtained from video recognition, and then predict and output the reference values.

[0012] Furthermore, the digital twin model of the steel coil slitting line is established in a virtual scene using digital twin technology, based on the actual equipment parameters and on-site environmental parameters of the steel coil slitting line.

[0013] Furthermore, the optimal packaging scheme includes the calculated number of strapping tapes and their location information, while the packaging scheme verified through simulation includes the adjusted number of strapping tapes and their location information after simulation verification.

[0014] Furthermore, the formula for calculating the center of gravity is:

[0015]

[0016] Where n is the number of leveled steel plates in the leveled steel plate group, x is the X-axis coordinate, and y is the Y-axis coordinate.

[0017] Furthermore, the optimal packing principle is as follows: the number and location of the packing straps, after being tested and adjusted through simulation, should maintain the overall center of gravity of the leveled steel plate at the equilibrium point during the lifting process, while minimizing the wear of the binding points and the compression deformation of the steel plate.

[0018] A flattened steel plate packing device includes a base, a conveyor unit on the upper part of the base, a gantry frame on the upper part of the base, a crossbeam inside the gantry frame that can move up and down, and a packing machine on the lower part of the crossbeam.

[0019] Furthermore, a support is provided on the side of the gantry frame, a strapping frame is connected to one side of the support, and a motor is provided on the other side of the support. The output shaft of the motor is connected to the central shaft of the strapping frame and drives it to rotate. Strapping is wound on the strapping frame, and one end of the strapping enters the strapping machine. When the leveling steel plate moves into place, the strapping machine tightens the strapping wrapped around the leveling steel plate and fixes it with a clamping buckle to complete the packaging.

[0020] The beneficial effects of this invention are:

[0021] The present invention provides a method and apparatus for packaging leveled steel plates from a steel coil leveling line. This method and apparatus can intelligently determine the optimal packaging position and automatically complete the packaging process. Simultaneously, the data is stored, and through supervised learning, a digital twin simulation model is formed to form a database mapping relationship. The accuracy of the model is improved through continuous verification and learning, thereby enhancing the accuracy of simulation verification. It can also output reference values ​​more intelligently, thereby reducing the amount of data calculation and improving the overall operating efficiency. This method not only ensures the stability and safety of lifting after packaging but also enables intelligent learning to continuously improve stability and safety. Attached image description:

[0022] Appendix Figure 1 This is a flowchart of the present invention;

[0023] Appendix Figure 2 This is a schematic diagram of the structure of the present invention;

[0024] In the attached diagram: 1. Base, 2. Rotary roller, 3. Packing strap, 4. Motor, 5. Packing strap frame, 6. Gantry frame, 7. Packing machine, 8. Leveling steel plate. Detailed implementation method:

[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the following description will be provided in conjunction with the appendix of this invention. Figure 1 and attached Figure 2 The present invention will be described in more detail below.

[0026] This invention provides a method for packaging leveled steel plates from a steel coil leveling line, comprising:

[0027] S1. Before the steel coil slitting line packages the slitting steel plates, the slitting steel plates are first collected through a video monitoring system, and the weight of the slitting steel plate group is calculated based on the collected data and calculation formula.

[0028] S2. In the digital twin model pre-built for the steel coil leveling line, a planar coordinate system including the X-axis and Y-axis is established. Based on the determined length, width, thickness, quantity, weight and the relative position of the stacked leveling steel plate group, the center of gravity position of the leveling steel plate group is calculated. Then, according to the preset optimal packing principle, the optimal packing scheme in the lifting process is generated through packing simulation.

[0029] S3. Conduct packaging and lifting simulation tests in the digital twin simulation model, monitor the occurrence of faults and dangerous situations, and record the results in the database in real time;

[0030] S4. The packaging plan verified through simulation is fed back to the steel coil leveling line, which adjusts the position of the leveled steel plate to ensure it is packaged in the optimal position and in the most stable and balanced state during lifting. In step S3, the data recorded in the database includes the length, width, thickness, quantity, weight, center of gravity position, packaging plan, simulation test process data, and result data of the leveled steel plate. Length, width, thickness, and quantity are used as marker values, while weight, center of gravity position, packaging plan, simulation test process data, and result data are used as reference values. A one-to-one correspondence is established between the marker values ​​and reference values ​​to form a database and a mapping relationship. Based on the database... Machine learning identifies the mapping relationship between labeled values ​​and reference values ​​to form a recognition model. The recognition model, through supervised learning, can identify the labeled values ​​of steel plates being slit on a steel coil slit line based on video images obtained from video recognition, and then predict and output the reference values. The digital twin model of the steel coil slit line is established in a virtual scene using digital twin technology based on the actual equipment parameters and actual field environment parameters of the steel coil slit line. The optimal packaging scheme includes the calculated number of packing straps and the location information of the packing straps. The packaging scheme verified by simulation includes the adjusted number of packing straps and the location information of the packing straps after simulation verification.

[0031] The formula for calculating the center of gravity is:

[0032]

[0033] Where n is the number of leveled steel plates in the leveled steel plate group, x is the X-axis coordinate, and y is the Y-axis coordinate.

[0034] The optimal packing principle is that the number and location of the packing straps, after being tested and adjusted through simulation, should maintain the overall center of gravity of the leveled steel plate at the equilibrium point during the lifting process, while minimizing wear at the binding points and compression deformation of the steel plate.

[0035] A flattened steel plate packaging device includes a base, a conveyor unit on the upper part of the base, a gantry frame on the upper part of the base, a crossbeam inside the gantry frame that can move up and down, and a packaging machine on the lower part of the crossbeam; a support is provided on the side of the gantry frame, a strapping frame is connected to one side of the support, and a motor is provided on the other side of the support. The output shaft of the motor is connected to the central shaft of the strapping frame and drives it to rotate. Strapping is wound on the strapping frame, and one end of the strapping enters the packaging machine. When the flattened steel plate moves into position, the packaging machine tightens the strapping wrapped around the flattened steel plate and secures it with a clamp to complete the packaging.

[0036] Example 1 is as follows:

[0037] A method for packaging leveled steel plates from a steel coil leveling line includes:

[0038] S1. Before the steel coil slitting line packages the slitting steel plates, the slitting steel plates are first collected through a video monitoring system, and the weight of the slitting steel plate group is calculated based on the collected data and calculation formula.

[0039] Video signals are acquired through a video surveillance system, which includes image recognition devices installed on and around the steel coil leveling line. The system identifies the edges of the leveled steel plates by first calculating the first derivatives in four directions and the gradient magnitude of each pixel in the image. Then, the magnitudes of the four first derivatives and a given threshold are compared. If any one of the four first derivatives is greater than the given threshold, the point is identified as an edge. The threshold is obtained adaptively through image processing, and the threshold K is obtained as follows:

[0040]

[0041] Where M×N represents the total number of pixels in the image, and M(i,j) represents the gradient magnitude of the center pixel.

[0042] The threshold K is iterated through an algorithm. Let K be the threshold for the nth iteration. n Threshold K n The gradient magnitudes are divided into two sets, M1 and M2, representing gradient magnitudes greater than K, respectively. n and less than K n Given a set of pixels, calculate the means P1 and P2 of the two sets respectively:

[0043]

[0044]

[0045] Where ω(i,j) is the weight of the gradient magnitude at point (i,j), which is usually 1.

[0046] Calculate the new threshold K n+1 = (P1+P2) / 2, when the threshold K n Satisfy | K n+1 -K n If | < ΔK, stop iterating; otherwise, continue iterating until the iteration accuracy is met, and then set the optimal threshold K. n Import the following formula to calculate the edge:

[0047]

[0048] Among them, P max(i，j) Let f(i,j) be the maximum of the four first derivatives of pixel (i,j), and f(i,j) be the edge map after thresholding.

[0049] The edge position of the leveling steel plate is determined by the above method, and the edge difference zone between the edge of the leveling steel plate and the rotating roller is marked.

[0050] Using the above method, the length and width of the leveled steel plate are determined, and the thickness is collected by the camera position, the edge position of the leveled steel plate, and the edge of the leveled steel plate to construct a spatial three-dimensional model for calculating the thickness of the leveled steel plate.

[0051] S2. In the digital twin model pre-built for the steel coil leveling line, a planar coordinate system including the X-axis and Y-axis is established. Based on the determined length, width, thickness, quantity, weight and the relative position of the stacked leveling steel plate group, the center of gravity position of the leveling steel plate group is calculated. Then, according to the preset optimal packing principle, the optimal packing scheme in the lifting process is generated through packing simulation.

[0052] The digital twin model of the steel coil slitting line is a digital twin model created in a virtual scene using digital twin technology, based on the actual equipment parameters and on-site environmental parameters of the steel coil slitting line.

[0053] In this process, a planar coordinate system including the X-axis and Y-axis is established in advance based on the actual on-site environmental parameters, and the location coordinates of the steel coil leveling line and the monitoring system are determined. Then, based on the leveling steel plate data determined in S1, the location coordinates of each point on the edge of the leveling steel plate are determined in the coordinate system. The pixel points (i,j) of the image recognition in S1 are transformed and mapped one-to-one with the specific coordinates (i`,j`) in the coordinate system.

[0054] Since a leveled steel plate is made up of multiple stacked steel plates, the formula for calculating the center of gravity of a leveled steel plate is as follows:

[0055]

[0056] Where n is the number of leveled steel plates in the leveled steel plate group, x is the X-axis coordinate, and y is the Y-axis coordinate.

[0057] The center of gravity coordinates are obtained by calculation, and then the optimal packing scheme during the lifting process is generated through packing simulation based on the preset optimal packing principle.

[0058] It should be noted that the optimal packing principle, which involves adjusting the number and location of the packing straps after simulation testing, aims to maintain the overall center of gravity of the leveled steel plate at its equilibrium point during lifting, while minimizing wear at the binding points and compression deformation of the steel plate. The optimal packing scheme includes the calculated number and location of the packing straps. The simulation-tested scheme includes the adjusted number and location of the packing straps. It should be noted that this optimal packing principle can be adjusted according to actual conditions to meet different industrial needs.

[0059] The number of packing straps is set to a base number, which is 3 in this embodiment. The innermost packing strap must pass through the center of gravity of the leveled steel plate and be perpendicular to the long side of the leveled steel plate.

[0060] Secondly, the other packing straps are evenly distributed on both sides.

[0061] The formula for calculating the distance between the outer strap and the center strap is:

[0062] H = G * 0.5 * 0.618

[0063] Where H is the distance between the outer packing strap and the central packing strap, and G is the length of the flattened steel plate.

[0064] The flattened steel plates bound in this way can ensure the balance during lifting and the stability of the binding at both ends, preventing them from tilting.

[0065] S3. Conduct packaging and lifting simulation tests in the digital twin simulation model, monitor the occurrence of faults and dangerous situations, and record the results in the database in real time;

[0066] In step S3, the data recorded in the database includes the length, width, thickness, quantity, weight, center of gravity position, packaging plan, simulated inspection process data and result data of the leveled steel plate. The length, width, thickness and quantity are used as marker values, and the weight, center of gravity position, packaging plan, simulated inspection process data and result data are used as reference values. The marker values ​​and reference values ​​are matched one-to-one to form a database and form a mapping relationship.

[0067] Machine learning is performed based on the database to identify the mapping relationship between the labeled value and the reference value to form a recognition model. The recognition model can identify the labeled value of the steel plate being leveled on the steel coil leveling line based on video images obtained from video recognition, and then predict and output the reference value.

[0068] The lifting simulation verification program can simulate possible situations in the digital twin simulation model to verify the selection of the binding position. If an unexpected situation occurs during the simulation verification, it returns to S2 to recalculate the center of gravity position for verification and comparison. Then, the simulation is performed again until the simulation verification is passed.

[0069] Meanwhile, the above data is stored, and supervised learning is used to form a database mapping relationship between the digital twin simulation model and the model accuracy is improved through continuous verification and learning. This improves the accuracy of simulation verification and enables more intelligent output of reference values, thereby reducing the amount of data calculation in S2 and improving the overall operating efficiency.

[0070] S4. The packaging scheme verified through simulation is fed back to the steel coil leveling line, which then adjusts the position of the leveled steel plate to ensure that the leveled steel plate is packaged in the optimal position and remains in the most stable and balanced state during lifting.

[0071] Example 2 is as follows:

[0072] The optimal packing position is calculated, and then the flattened steel plate is bundled using a flattened steel plate packing device. The flattened steel plate packing device includes a base 1, and a conveyor is provided on the upper part of the base 1. The conveyor includes several rotating rollers 2, which are driven by a motor and chain to convey the flattened steel plate 8 forward to the predetermined position for packing, and then convey the packed flattened steel plate 8 to the lifting position. A gantry frame 6 is also provided on the upper part of the base 1. A crossbeam is provided inside the gantry frame 6 in a way that can move up and down. A packing machine 7 is provided at the lower part of the crossbeam. The packing machine 7 can move laterally on the crossbeam to determine the optimal packing position, which is determined based on the position of the flattened steel plate in the plane coordinate system.

[0073] It can pack the steel plates according to their length, and the packing parameters can be set arbitrarily to determine the packing position, thus ensuring the safety of the steel plates during transportation and hoisting.

[0074] A support is provided on the side of the gantry frame 6. A strapping frame 5 is connected to one side of the support, and a motor 4 is provided on the other side of the support. The output shaft of the motor 4 is connected to the central shaft of the strapping frame 5 and drives it to rotate. A strapping 3 is wound on the strapping frame 5. One end of the strapping 3 enters the strapping machine 7. When the leveling steel plate moves into place, the strapping machine 7 tightens the strapping 3 around the leveling steel plate and fixes it with a clamping buckle to complete the packaging.

[0075] After being leveled, the steel plate is conveyed by roller 2. Once it reaches the corresponding packing position, the device will lower and output the packing strap 3, tighten it, and clamp it with a fastener. Then, it will continue to be conveyed and continue packing.

[0076] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A method for packaging leveled steel plates from a steel coil leveling line, characterized in that: include: S1. Before the steel coil slitting line packages the slitting steel plates, the slitting steel plates are first collected through a video monitoring system, and the weight of the slitting steel plate group is calculated based on the collected data and calculation formula. S2. In the digital twin model pre-built for the steel coil leveling line, a planar coordinate system including the X-axis and Y-axis is established. Based on the determined length, width, thickness, quantity, weight and the relative position of the stacked leveling steel plate group, the center of gravity position of the leveling steel plate group is calculated. Then, according to the preset optimal packing principle, the optimal packing scheme in the lifting process is generated through packing simulation. A planar coordinate system including the X-axis and Y-axis is established in advance based on the actual site environment parameters, and the location coordinates of the steel coil leveling line and the monitoring system are determined. Then, based on the leveling steel plate data determined in S1, the location coordinates of each point on the edge of the leveling steel plate are determined in the coordinate system. The pixel points (i,j) of the image recognition in S1 are transformed and mapped one by one with the specific coordinates (i`,j`) in the coordinate system. The formula for calculating the center of gravity position is: Where n is the number of leveled steel plates in the leveled steel plate group, x is the X-axis coordinate, and y is the Y-axis coordinate; S3. Conduct packaging and lifting simulation tests in the digital twin simulation model, monitor the occurrence of faults and dangerous situations, and record the results in the database in real time; S4. The packaging scheme verified through simulation is fed back to the steel coil leveling line, which then adjusts the position of the leveled steel plate to ensure that the leveled steel plate is packaged in the optimal position and remains in the most stable and balanced state during lifting.

2. The method for packaging leveled steel plates from a steel coil leveling line according to claim 1, characterized in that: In step S3, the data recorded in the database includes the length, width, thickness, quantity, weight, center of gravity position, packaging plan, simulated inspection process data and result data of the leveled steel plate. The length, width, thickness and quantity are used as marker values, and the weight, center of gravity position, packaging plan, simulated inspection process data and result data are used as reference values. The marker values ​​and reference values ​​are matched one-to-one to form a database and form a mapping relationship.

3. The method for packaging leveled steel plates according to claim 2, characterized in that: Machine learning is performed based on the database to identify the mapping relationship between the labeled value and the reference value to form a recognition model. The recognition model can identify the labeled value of the steel plate being leveled on the steel coil leveling line based on video images obtained from video recognition, and then predict and output the reference value.

4. The method for packaging leveled steel plates according to claim 1, characterized in that: The digital twin model of the steel coil slitting line is established in a virtual scene using digital twin technology, based on the actual equipment parameters and on-site environmental parameters of the steel coil slitting line.

5. The method for packaging leveled steel plates according to claim 1, characterized in that: The optimal packaging scheme includes the calculated number of packing straps and the location information of the packing straps. The packaging scheme verified by simulation includes the adjusted number of packing straps and the location information of the packing straps after simulation verification.

6. The method for packaging leveled steel plates according to claim 1, characterized in that: The optimal packing principle is as follows: the number and location of the packing straps, after being tested and adjusted through simulation, should maintain the overall center of gravity of the leveled steel plate at the equilibrium point during the lifting process, while minimizing the wear of the binding points and the compression deformation of the steel plate.

7. A flattened steel plate packaging device, characterized in that, The method for packaging leveled steel plates applied to the steel coil leveling line according to any one of claims 1 to 6, wherein the leveled steel plate packaging device includes a base, a conveying part is provided on the upper part of the base, a gantry frame is also provided on the upper part of the base, a crossbeam is provided inside the gantry frame in a way that can move up and down, and a packaging machine is provided on the lower part of the crossbeam.

8. The steel plate packing device according to claim 7, characterized in that: A support is provided on the side of the gantry frame. A strapping frame is connected to one side of the support, and a motor is provided on the other side of the support. The output shaft of the motor is connected to the central shaft of the strapping frame and drives it to rotate. Strapping is wound on the strapping frame. One end of the strapping enters the strapping machine. When the leveling steel plate moves into place, the strapping machine tightens the strapping wrapped around the leveling steel plate and fixes it with a clamp to complete the strapping.

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