Control method, device and equipment of rolling mill outlet transportation system and medium

Abstract

The invention discloses a control method, device and equipment of a rolling mill outlet transportation system and a medium, and belongs to the technical field of metallurgy. The method comprises the steps that after the trolley receives a steel coil, the trolley is controlled to move to a first position; if the transverse moving signal is received, the trolley is controlled to move from the first position to a second position to conduct coil unloading operation, and the first position is away from the second position by a preset first distance; and the stepping beam is controlled to move to the second position, then coil taking operation is conducted, and the steel coil is conveyed to a third position. According to the method, the trolley carrying the steel coils can be controlled to wait at the first position firstly, after a transverse moving signal is received, the trolley carrying the steel coils is controlled to move to the second position to conduct coil unloading operation, the interval time of transporting the two steel coils by the trolley is shortened, then the stepping beam is controlled to take the coils in the past, and the obtained steel coils are transported to the third position, so that the steel coil unloading efficiency is improved. And the transportation efficiency is improved, and the requirement of a current production line for high production efficiency is met.

Description

Technical Field

[0001] The present invention relates to the field of metallurgical technology, and in particular to a control method, device, equipment and medium for a rolling mill outlet transportation system. Background Art

[0002] In the field of rolling technology, improving production efficiency is one of the goals of rolling mill production. During the cold rolling production process, the walking beam at the exit of the rolling mill is used to transport steel coils, and its transportation capacity directly affects the production capacity of the production line.

[0003] In the related technology, in order to ensure the safety of the steel coil during the transportation of the walking beam, the next steel coil will be transported to the coil-taking position of the walking beam when the walking beam returns to its initial position after running a cycle, and then the walking beam moves to the coil-taking position to transport the next steel coil.

[0004] However, with the continuous improvement of production lines and the increase in production efficiency, the transportation efficiency of the walking beam in the above method is relatively low and cannot meet the transportation needs of high production efficiency. Summary of the invention

[0005] In view of the above problems, the present invention is proposed to provide a control method, device, equipment and medium for the rolling mill outlet transportation system that solves the above problems. The method can control the trolley carrying the steel coil to wait at the first position before reaching the second position where the walking beam takes the coil. After receiving the lateral movement signal, the trolley carrying the steel coil is controlled to move to the second position to unload the coil, thereby shortening the interval time between the trolley transporting two steel coils. The walking beam is then controlled to take the coil and the obtained steel coil is transported to the third position, thereby improving the transportation efficiency and meeting the current production line's demand for high production efficiency.

[0006] In a first aspect, the present invention provides a control method for a rolling mill exit transportation system, the system comprising a trolley and a walking beam, the trolley and the walking beam being used to transport steel coils, the method comprising:

[0007] When the trolley receives the steel coil, the trolley is controlled to move to the first position;

[0008] If a lateral movement signal is received, the trolley is controlled to move from the first position to the second position to perform a roll unloading operation, and the first position is a preset first distance away from the second position;

[0009] The walking beam is controlled to move to the second position to perform a coiling operation, and the steel coil is transported to a third position.

[0010] Optionally, if the lateral movement signal is received, the method further comprises: controlling the trolley to move from the first position to the second position before performing the roll unloading operation;

[0011] If the distance between the stepping beam and the second position is greater than a preset second distance, the traverse signal is generated.

[0012] Optionally, if the lateral movement signal is received, the method further comprises: controlling the trolley to move from the first position to the second position before performing the roll unloading operation;

[0013] If the distance between the stepping beam and the second position is greater than a preset second distance, and the time when the stepping beam leaves the fourth position is greater than a preset time threshold, then generating the traverse signal;

[0014] The distance between the fourth position and the second position is the second distance.

[0015] Optionally, if the distance between the walking beam and the second position is greater than a preset second distance, and the time for the walking beam to leave the fourth position is greater than a preset time threshold, before generating the traverse signal, the method further includes:

[0016] Obtaining the coil diameter of the steel coil and the walking speed of the walking beam;

[0017] Calculating an absolute difference between the second distance and the coil diameter;

[0018] The time threshold is determined according to the absolute difference and the walking speed.

[0019] Optionally, determining the time threshold according to the absolute difference and the walking speed includes:

[0020] The ratio of the absolute difference and the walking speed is calculated to obtain the time threshold.

[0021] Optionally, after controlling the trolley to move from the first position to the second position to perform a coil unloading operation, and before controlling the walking beam to move to the second position to perform a coil taking operation, the method includes:

[0022] Control the trolley to move from the second position to the first position.

[0023] Optionally, after transporting the steel coil to the third location, the method further comprises:

[0024] Controlling the walking beam to move from the third position to the fifth position and then stop;

[0025] Wherein, the fifth position is between the second position and the third position.

[0026] In a second aspect, the system comprises a trolley and a walking beam, wherein the trolley and the walking beam are used to transport steel coils, and the device comprises:

[0027] A first control module, used for controlling the trolley to move to a first position after the trolley receives the steel coil;

[0028] A second control module is used for controlling the trolley to move from the first position to the second position to perform a roll unloading operation if a lateral movement signal is received, and the first position and the second position are separated by a preset first distance;

[0029] The third control module is used to control the walking beam to move to the second position to perform the coiling operation and transport the steel coil to the third position.

[0030] In a third aspect, the present invention provides an electronic device comprising: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method described in the first aspect by executing the computer instructions.

[0031] In a fourth aspect, the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the method described in the first aspect.

[0032] The technical solution provided in the embodiments of the present invention has at least the following technical effects or advantages:

[0033] The embodiment of the present invention provides a control method, device, equipment and medium for a rolling mill outlet transportation system. When a trolley receives a steel coil, the trolley is controlled to move to a first position and wait at the first position to prevent the steel coil on the trolley from colliding with the steel coil on the walking beam; if a transverse movement signal is received, the trolley is controlled to move from the first position to the second position and then perform a coil unloading operation. When the two steel coils do not collide, the trolley is controlled to transport the steel coil to the second position, and the first position is a preset first distance away from the second position; the walking beam is controlled to move to the second position and then perform a coil taking operation, and transport the steel coil to the third position. The time for the trolley to transport a steel coil at a time is shortened, so that the walking beam can transport the next steel coil earlier, thereby improving the transportation efficiency of the steel coil and meeting the high efficiency requirements of the production line.

[0034] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0036] Figure 1 It is a flow chart of a control method of a rolling mill outlet transportation system provided by an embodiment of the present invention;

[0037] Figure 2 It is a structural block diagram of a control device of a rolling mill outlet transportation system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of the present application clearer, the implementation mode of the present application will be further described in detail below in conjunction with the accompanying drawings. It should be understood that the embodiments of the present disclosure and the specific features in the embodiments are detailed descriptions of the technical solutions of the present application, rather than limitations on the technical solutions of the present application. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments can be combined with each other.

[0039] Figure 1 is a flow chart of a control method of a rolling mill outlet transportation system provided by an embodiment of the present invention, such as Figure 1 As shown, the method includes:

[0040] Step S110: After the trolley receives the steel coil, the trolley is controlled to move to the first position.

[0041] In this embodiment, the rolling mill exit transportation system includes a trolley and a walking beam, both of which are used to transport steel coils. First, the trolley is controlled to take the rolled steel coil from the mandrel of the coiler, and then transported to the coiling position of the walking beam, and finally the walking beam transports the steel coil to the designated location.

[0042] Specifically, when the trolley takes the rolled steel coil from the mandrel of the coiler, the trolley carrying the steel coil is first controlled to move to the first position and wait at the first position, and the steel coil is not directly transported to the unwinding position of the walking beam. When the walking beam has not transported the previous steel coil to the designated position, the trolley carrying the next steel coil is controlled to wait at the first position, which can prevent the trolley from directly transporting the next steel coil to the unwinding position and colliding with the previous steel coil carried by the walking beam.

[0043] Among them, the first position can be set according to the specific situation, as long as it is ensured that when the trolley is in the first position, no matter where the walking beam is, the steel coils carried by the two will not collide.

[0044] Step S120: If a transverse movement signal is received, the trolley is controlled to move from the first position to the second position to perform a roll unloading operation.

[0045] The first position is at a preset first distance from the second position.

[0046] In this embodiment, after receiving the transverse movement signal, it means that the walking beam and the trolley are already at an appropriate distance. At this time, the trolley is controlled to move from the first position to the second position without colliding with the steel coil on the walking beam during the movement. Then the steel coil is unloaded to the second position, and the second position is the coil taking position of the walking beam.

[0047] Step S130, control the walking beam to move to the second position, perform the coiling operation, and transport the steel coil to the third position.

[0048] In this embodiment, after the trolley unloads the steel coil to the second position, the walking beam can be controlled to move to the second position to perform the coiling operation, and then the steel coil is transported to the third position. The third position is the first unloading position of the walking beam.

[0049] It should be noted that the moving route of the trolley and the moving route of the walking beam are perpendicular to each other. The second position is the unloading position of the trolley and the taking-up position of the walking beam. Therefore, the route from the coiler to the first position and then to the second position constitutes the moving route of the trolley, and the route from the second position to the third position constitutes the moving route of the walking beam.

[0050] In this embodiment, the trolley does not need to wait for the walking beam to run a cycle before transporting the next steel coil to the second position. Instead, it can transport the next steel coil to the second position when receiving the transverse movement signal. At this time, the walking beam may not have completed a complete cycle, so the interval time of the trolley transporting steel coils is reduced. When the walking beam runs a complete cycle, it will transport the next steel coil. There is no need to spend more time waiting for the trolley to transport the steel coil to the second position, thereby improving the overall transportation efficiency of the steel coils.

[0051] Optionally, before step S120, the method further includes step S111.

[0052] Step S111: If the distance between the walking beam and the second position is greater than a preset second distance, a lateral movement signal is generated.

[0053] In this embodiment, when the walking beam goes to the second position to take the roll, it is in an unloaded state, and when it takes the roll from the second position and moves to the third position, it is in a loaded state. In the loaded state, the distance between the walking beam and the second position gradually increases, and when it increases to more than the second distance, a traverse signal can be generated.

[0054] That is to say, in order to improve the transportation efficiency of steel coils, from the time when the walking beam transports the last steel coil to the third position to the time when the walking beam takes the next steel coil to the second position, the trolley may receive the next steel coil from the coiler and transport it to the second position. At this time, in order to prevent the steel coils on the trolley and the walking beam from colliding due to the close distance between the trolley and the walking beam, a first position is set to make the trolley wait at the first position until the walking beam and the second position have maintained a sufficient safety distance, so that the steel coils on the trolley and the walking beam also maintain a safety distance, and the steel coils on the walking beam will not collide with the steel coils on the trolley, and the trolley will be controlled to move from the first position to the second position. This can ensure transportation safety and improve transportation efficiency.

[0055] In this embodiment, a proximity switch can be arranged between the second position and the third position, and when the stepping beam moves from the second position to the proximity switch, the proximity switch is energized to trigger a signal, which is used as a traverse signal. The distance between the proximity switch and the second position is the second distance.

[0056] For safety reasons, the proximity switch may be arranged at an intermediate position between the second position and the third position, that is, the second distance is half of the distance between the second position and the third position.

[0057] Optionally, before step S120, the method further includes step S116.

[0058] Step S116: If the distance between the walking beam and the second position is greater than the preset second distance, and the time when the walking beam leaves the fourth position is greater than the preset time threshold, a lateral movement signal is generated.

[0059] The distance between the fourth position and the second position is the second distance.

[0060] In this embodiment, the position that is the second distance away from the second position can be recorded as the fourth position. Since the steel coil is a circle, the position of the trolley and the position of the walking beam are both the horizontal position of the coil core of the steel coil, so when the trolley carrying the steel coil is in the second position, the edge position of the steel coil will be between the second position and the third position. Similarly, when the walking beam carrying the steel coil is in the fourth position, the edge position of the steel coil on the walking beam will be between the second position and the fourth position, and the fourth position is between the second position and the third position. Therefore, when the coil diameter of the steel coil is relatively large, the edge position of the steel coil on the trolley will be farther from the second position and closer to the steel coil on the walking beam. Therefore, even if the distance between the walking beam and the second position is greater than the second distance, when the walking beam carrying the steel coil moves from the fourth position to the third position, and the trolley carrying the steel coil moves from the first position to the second position, there is still a possibility of collision between the steel coil on the trolley and the steel coil on the walking beam.

[0061] Therefore, a fourth position is added between the second position and the third position. The fourth position is the second distance from the second position. A proximity switch is arranged at the fourth position, so when the stepping beam moves from the second position to the fourth position carrying the steel coil, the proximity switch is triggered to generate a signal. After receiving the signal generated by the proximity switch, the timing is started, and the stepping beam carrying the steel coil continues to move to the third position after leaving the fourth position. When the timing time is greater than the time threshold, the transverse movement signal is generated again to ensure that when the coil diameter of the steel coil is large, the steel coil on the trolley will not collide with the steel coil on the stepping beam.

[0062] The fourth position may be an intermediate position between the second position and the third position, that is, the second distance is half of the distance between the second position and the third position.

[0063] Optionally, before step S116, the method further includes steps S112 to S114.

[0064] Step S112, obtaining the coil diameter of the steel coil and the walking speed of the walking beam.

[0065] In this embodiment, the coil diameter of the steel coil can be obtained from the control system of the coiler, and the travel speed of the walking beam can be collected by a sensor.

[0066] Step S113, calculating the absolute difference between the second distance and the roll diameter.

[0067] In this embodiment, the absolute difference between the second distance and the coil diameter is calculated to predict the distance or overlap between the steel coils on the trolley and the steel coils on the walking beam when the trolley and the walking beam are at the minimum spacing.

[0068] Step S114: Determine a time threshold according to the absolute difference and the walking speed.

[0069] In this embodiment, a time threshold is determined based on the distance or overlap between the steel coils on the trolley and the walking beam, and the walking speed of the walking beam, to ensure that when the trolley and the walking beam are at the minimum spacing, after the walking beam continues to move to the third position for the time threshold, there will be no overlap between the steel coils on the trolley and the walking beam, that is, no collision will occur.

[0070] Optionally, step S114 includes:

[0071] The ratio of the absolute difference and the walking speed is calculated to obtain the time threshold.

[0072] In this embodiment, the ratio of the distance or overlap between the steel coils on the trolley and the walking beam to the walking speed of the walking beam can be used as the time threshold, that is, the time required to calculate the absolute difference in the walking distance of the walking beam, so that the steel coils on the walking beam can be just offset from the steel coils on the trolley and will not collide.

[0073] Specifically, the time threshold is calculated using the following formula:

[0074] T = |(A / 2-W)| / S;

[0075] Wherein, T represents the time threshold, A represents the third distance, W represents the winding diameter, and S represents the walking speed.

[0076] ,Optionally, after step S120 and before step S130, the method also includes.

[0077] Control the trolley to move from the second position to the first position.

[0078] In this embodiment, in order to prevent the trolley from colliding with the walking beam moving to the second position on the way back to the coiler after unloading the coil, the walking beam can be controlled to move to the second position after the trolley returns to the first position.

[0079] Optionally, after step S130, the method further includes:

[0080] The stepping beam is controlled to move from the third position to the fifth position and then stop.

[0081] Among them, the fifth position is between the second position and the third position.

[0082] In this embodiment, after the walking beam transports the steel coil to the third position, it needs to return to the direction of the second position to receive the next steel coil. However, when returning, in order to prevent a collision with the trolley transporting the next steel coil, the walking beam can be controlled to return to the fifth position between the second position and the third position and then stop moving. The fifth position can be used as the starting position of the walking beam, that is, the starting point of each operation cycle of the walking beam is the fifth position.

[0083] Next, when the walking beam stops at the fifth position, if the trolley transports the next steel coil to the second position and the trolley has returned to the first position, the walking beam is controlled to move to the second position to pick up the next steel coil and complete the transportation of the next steel coil.

[0084] In this embodiment, each steel coil is eventually transported to the designated location by the walking beam, and then offline inspection, baler operation, labeling and other operations are carried out. By optimizing the transportation capacity of the walking beam, the safety and stability of the steel coil transportation are ensured, while the production efficiency of the production line is improved, and the time and safety of the strip surface inspection and personnel appearance inspection are guaranteed.

[0085] Based on the same inventive concept, an embodiment of the present invention further provides a control device for a rolling mill exit transportation system, the system comprising a trolley and a walking beam, the trolley and the walking beam are used to transport steel coils, Figure 2is a structural block diagram of a control device for a rolling mill outlet transportation system provided by an embodiment of the present invention, such as Figure 2 As shown, the device 200 includes a first control module 201 , a second control module 202 and a third control module 203 .

[0086] The first control module 201 is used to control the trolley to move to the first position after the trolley receives the steel coil;

[0087] The second control module 202 is used to control the trolley to move from the first position to the second position to perform a roll unloading operation if a lateral movement signal is received, and the first position and the second position are separated by a preset first distance;

[0088] The third control module 203 is used to control the walking beam to move to the second position to perform the coiling operation and transport the steel coil to the third position.

[0089] Optionally, the device 200 further includes:

[0090] The first generating module is used to generate a lateral movement signal if the distance between the stepping beam and the second position is greater than a preset second distance.

[0091] Optionally, the device 200 further includes:

[0092] A second generating module, configured to generate a traverse signal if the distance between the walking beam and the second position is greater than a preset second distance and the time for the walking beam to leave the fourth position is greater than a preset time threshold;

[0093] The distance between the fourth position and the second position is the second distance.

[0094] Optionally, the device 200 further includes:

[0095] An acquisition module is used to acquire the coil diameter of the steel coil and the walking speed of the walking beam;

[0096] A calculation module, used for calculating the absolute difference between the second distance and the coil diameter;

[0097] The determination module is used to determine the time threshold according to the absolute difference and the walking speed.

[0098] Optionally, the determination module is further configured to:

[0099] The ratio of the absolute difference and the walking speed is calculated to obtain the time threshold.

[0100] Optionally, the device 200 further includes a fourth control module, configured to:

[0101] Control the trolley to move from the second position to the first position.

[0102] Optionally, the device 200 further includes a fifth control module, configured to:

[0103] Controlling the walking beam to move from the third position to the fifth position and then stop;

[0104] Among them, the fifth position is between the second position and the third position.

[0105] It can be understood that the device provided in the above embodiment is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0106] An embodiment of the present invention further provides an electronic device, which may include a processor and a memory, wherein the processor and the memory may be communicatively connected to each other via a bus or other means.

[0107] The processor may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application, or may also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components and other chips, or a combination of the above-mentioned chips.

[0108] The memory may include a large capacity memory for data or instructions. By way of example and not limitation, the memory may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. Where appropriate, the memory may include a removable or non-removable (or fixed) medium. Where appropriate, the memory may be inside or outside the electronic device. In a particular embodiment, the memory may be a non-volatile solid-state memory.

[0109] In one example, the memory may be a read-only memory (ROM). In one example, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or a flash memory, or a combination of two or more of these.

[0110] The processor implements any one of the control methods for the rolling mill outlet transportation system in the above embodiments by reading and executing computer program instructions stored in the memory.

[0111] In one example, the electronic device may further include a communication interface and a bus. Among them, the processor, memory, and communication interface are connected through a bus and communicate with each other. The communication interface is mainly used to realize the communication between the modules, devices, units and / or devices in the embodiment of the present application. Where appropriate, the bus may include one or more buses.

[0112] In addition, in combination with the control method of the rolling mill outlet transportation system in the above embodiment, the embodiment of the present invention can provide a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when the computer program instructions are executed by the processor, any one of the control methods of the rolling mill outlet transportation system in the above embodiment is implemented.

[0113] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above-mentioned types of memory.

[0114] The technical solutions in the above embodiments of the present application have at least the following technical effects or advantages:

[0115] The embodiment of the present invention provides a control method, device, equipment and medium for a rolling mill outlet transportation system. When a trolley receives a steel coil, the trolley is controlled to move to a first position and wait at the first position to prevent the steel coil on the trolley from colliding with the steel coil on the walking beam; if a transverse movement signal is received, the trolley is controlled to move from the first position to the second position and then perform a coil unloading operation. When the two steel coils do not collide, the trolley is controlled to transport the steel coil to the second position, and the first position is a preset first distance away from the second position; the walking beam is controlled to move to the second position and then perform a coil taking operation, and transport the steel coil to the third position. The time for the trolley to transport a steel coil at a time is shortened, so that the walking beam can transport the next steel coil earlier, thereby improving the transportation efficiency of the steel coil and meeting the high efficiency requirements of the production line.

[0116] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0117] Similarly, it should be understood that in order to streamline the present disclosure and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of the present invention, various features of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. However, this disclosed method should not be interpreted as reflecting the intention that the claimed invention requires more features than those explicitly recited in each claim. More specifically, as reflected in the claims below, inventive aspects lie in less than all the features of the individual embodiments disclosed above. Therefore, the claims that follow the specific embodiment are hereby expressly incorporated into the specific embodiment, with each claim itself serving as a separate embodiment of the present invention.

[0118] It should be noted that the above embodiments illustrate the present invention rather than limit it, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets shall not be construed as a limitation on the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "one" or "an" preceding a component does not exclude the presence of a plurality of such components. The present invention may be implemented by means of hardware comprising a number of different components and by means of a suitably programmed computer. In a unit claim enumerating a number of devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc., does not indicate any order. These words may be interpreted as names.

Claims

1. A control method for a rolling mill outlet transportation system, characterized in that: The system includes a trolley and a walking beam, the trolley and the walking beam are used to transport steel coils, and the method includes: When the trolley receives the steel coil, the trolley is controlled to move to the first position; If a lateral movement signal is received, the trolley is controlled to move from the first position to the second position to perform a roll unloading operation, and the first position is a preset first distance away from the second position; The walking beam is controlled to move to the second position to perform a coiling operation, and the steel coil is transported to a third position.

2. The control method of the rolling mill outlet transportation system according to claim 1, characterized in that: If the lateral movement signal is received, the method further comprises: controlling the trolley to move from the first position to the second position before performing the roll unloading operation; If the distance between the stepping beam and the second position is greater than a preset second distance, the traverse signal is generated.

3. The control method of the rolling mill outlet transportation system according to claim 1, characterized in that: If the lateral movement signal is received, the method further comprises: controlling the trolley to move from the first position to the second position before performing the roll unloading operation; If the distance between the stepping beam and the second position is greater than a preset second distance, and the time when the stepping beam leaves the fourth position is greater than a preset time threshold, then generating the traverse signal; The distance between the fourth position and the second position is the second distance.

4. The control method of the rolling mill outlet transportation system according to claim 3, characterized in that: If the distance between the stepping beam and the second position is greater than a preset second distance, and the time when the stepping beam leaves the fourth position is greater than a preset time threshold, before generating the traverse signal, the method further includes: Obtaining the coil diameter of the steel coil and the walking speed of the walking beam; Calculating an absolute difference between the second distance and the coil diameter; The time threshold is determined according to the absolute difference and the walking speed.

5. The control method of the rolling mill outlet transportation system according to claim 4, characterized in that: The step of determining the time threshold according to the absolute difference and the walking speed includes: The ratio of the absolute difference and the walking speed is calculated to obtain the time threshold.

6. The control method of the rolling mill outlet transportation system according to claim 1, characterized in that: After the trolley is controlled to move from the first position to the second position to perform a coil unloading operation, and before the walking beam is controlled to move to the second position to perform a coil taking operation, the method includes: Control the trolley to move from the second position to the first position.

7. The control method of the rolling mill outlet transportation system according to claim 1, characterized in that: After transporting the steel coil to the third location, the method further comprises: Controlling the walking beam to move from the third position to the fifth position and then stop; Wherein, the fifth position is between the second position and the third position.

8. A control device for a rolling mill outlet transportation system, characterized in that: The system includes a trolley and a walking beam, the trolley and the walking beam are used to transport steel coils, and the device includes: A first control module, used for controlling the trolley to move to a first position after the trolley receives the steel coil; A second control module is used for controlling the trolley to move from the first position to the second position to perform a roll unloading operation if a lateral movement signal is received, and the first position and the second position are separated by a preset first distance; The third control module is used to control the walking beam to move to the second position to perform the coiling operation and transport the steel coil to the third position.

9. An electronic device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method according to any one of claims 1 to 7 by executing the computer instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to cause the computer to execute the method according to any one of claims 1 to 7.

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