Slab cutting vehicle positioning method, device, equipment and medium

Abstract

The invention discloses a slab cutting vehicle positioning method, device, equipment and medium, and the method comprises the steps: in the running process of a slab cutting vehicle, obtaining a pulse signal generated by a walking encoder at the current moment, and obtaining a laser signal generated by laser equipment at the current moment; determining a first position corresponding to the slab cutting vehicle at the current moment according to the pulse signal; determining a second position corresponding to the slab cutting vehicle at the current moment according to the laser signal; judging whether the difference between the first position and the second position is smaller than or equal to a preset threshold value; and when the difference between the first position and the second position is smaller than or equal to a preset threshold value, the first position or the second position serves as the corresponding actual position of the slab cutting vehicle at the current moment. The position information detected by the walking encoder and the position information detected by the laser device can be mutually verified, whether the accuracy of the position information detected by the two devices is high or not is determined, and the accuracy of the positioning position of the cutting vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of continuous casting, and in particular to a slab cutting vehicle positioning method, device, equipment and medium. Background Art

[0002] The slab cutting car is one of the important equipment in the slab continuous casting machine production line. The main function of the cutting car is to cut the slabs produced by the continuous casting machine into the set length according to the needs of the production process, so as to facilitate subsequent metallurgical processes such as machine cleaning and hot rolling.

[0003] In related technologies, slab cutting vehicles mainly rely on encoders for positioning. However, the accuracy of the position information detected by the encoder is not high, which results in inaccurate cutting of the slabs, affecting the order fulfillment of the subsequent rolling process. It may also cause cutting damage to the slab rollers, thereby affecting the surface quality of the slabs and causing quality accidents in the subsequent rolling process. Severe cutting can cause the rollers to break, resulting in the occurrence of casting accidents such as the casting machine breaking the horizontal slab. Therefore, how to improve the positioning accuracy of the slab cutting vehicle is an urgent problem that needs to be solved. Summary of the Invention

[0004] The embodiments of the present application provide a slab cutting vehicle positioning method, device, equipment and medium, thereby solving the technical problem in the prior art that the slab cutting vehicle mainly relies on an encoder to achieve position positioning, but the accuracy of the position information detected by the encoder is not high, thereby achieving the technical effect of improving the positioning accuracy of the slab cutting vehicle.

[0005] In a first aspect, the present application provides a slab cutting vehicle positioning method, the method comprising:

[0006] During the operation of the slab cutting vehicle, a pulse signal generated by a travel encoder at a current moment is obtained, and a laser signal generated by a laser device at the current moment is obtained;

[0007] determining a first position of the slab cutting vehicle corresponding to the current moment according to the pulse signal;

[0008] determining a second position of the slab cutting vehicle corresponding to the current moment according to the laser signal;

[0009] Determining whether the difference between the first position and the second position is less than or equal to a preset threshold;

[0010] When the difference between the first position and the second position is less than or equal to the preset threshold, the first position or the second position is used as the actual position of the slab cutting vehicle at the current moment.

[0011] Furthermore, when the difference between the first position and the second position is less than or equal to the preset threshold, using the first position or the second position as the actual position of the slab cutting vehicle at the current moment includes:

[0012] When the difference between the first position and the second position is less than or equal to the preset threshold, determining whether the main detection device for detecting the position of the slab cutting vehicle is the traveling encoder or the laser device;

[0013] When the main detection device is the travel encoder, the first position is used as the actual position of the slab cutting vehicle corresponding to the current moment;

[0014] When the main detection device is the laser device, the second position is used as the actual position of the slab cutting vehicle corresponding to the current moment.

[0015] Furthermore, during the operation of the slab cutting vehicle, the method further comprises:

[0016] receiving a device change signal from a primary detection device, wherein the primary detection device is a device with the highest priority for detecting the position of the slab cutting vehicle;

[0017] In response to the device change signal, the device that is not the main detection device among the walking encoder and the laser device is used as the new main detection device.

[0018] Furthermore, after determining whether the difference between the first position and the second position is less than or equal to a preset threshold, the method further includes:

[0019] When the difference between the first position and the second position is greater than the preset threshold, generating a cutting vehicle positioning alarm signal;

[0020] receiving a fault inspection result returned in response to the cutting vehicle positioning alarm signal;

[0021] When the fault inspection result indicates that the travel encoder is abnormal, the second position is used as the actual position of the slab cutting vehicle corresponding to the current moment;

[0022] When the fault inspection result indicates that an abnormality exists in the laser device, the first position is used as the actual position of the slab cutting vehicle corresponding to the current moment.

[0023] Furthermore, determining the first position of the slab cutting vehicle corresponding to the current moment according to the pulse signal includes:

[0024] The first position of the slab cutting vehicle corresponding to the current moment is determined according to the rack transmission accuracy corresponding to the travel encoder and the pulse signal.

[0025] Furthermore, determining the second position of the slab cutting vehicle corresponding to the current moment according to the laser signal includes:

[0026] Performing analog-to-digital conversion on the laser signal to determine a corresponding digital signal;

[0027] The second position of the slab cutting vehicle corresponding to the current moment is determined according to the digital signal and the laser propagation speed.

[0028] Furthermore, after taking the first position or the second position as the actual position of the slab cutting vehicle corresponding to the current moment, the method further includes:

[0029] Update the next moment to the current moment, and for the updated current moment, return to execute the steps of obtaining the pulse signal generated by the walking encoder at the current moment during the operation of the slab cutting vehicle, and obtaining the laser signal generated by the laser equipment at the current moment during the operation of the slab cutting vehicle.

[0030] In a second aspect, the present application provides a slab cutting vehicle positioning device, the device comprising:

[0031] An acquisition module is used to acquire a pulse signal generated by a travel encoder at a current moment and a laser signal generated by a laser device at the current moment during the operation of the slab cutting vehicle;

[0032] An information conversion module, configured to determine a first position of the slab cutting vehicle corresponding to the current moment according to the pulse signal;

[0033] determining a second position of the slab cutting vehicle corresponding to the current moment according to the laser signal;

[0034] an error determination module, configured to determine whether a difference between the first position and the second position is less than or equal to a preset threshold;

[0035] The position determination module is configured to use the first position or the second position as the actual position of the slab cutting vehicle at the current moment when the difference between the first position and the second position is less than or equal to the preset threshold.

[0036] Furthermore, the location determination module is used to:

[0037] When the difference between the first position and the second position is less than or equal to the preset threshold, determining whether the main detection device for detecting the position of the slab cutting vehicle is the traveling encoder or the laser device;

[0038] When the main detection device is the travel encoder, the first position is used as the actual position of the slab cutting vehicle corresponding to the current moment;

[0039] When the main detection device is the laser device, the second position is used as the actual position of the slab cutting vehicle corresponding to the current moment.

[0040] Furthermore, the device also includes a main detection device replacement module, which is used to:

[0041] During the operation of the slab cutting vehicle, receiving a device change signal from a main detection device, wherein the main detection device is a device with the highest priority for detecting the position of the slab cutting vehicle;

[0042] In response to the device change signal, the device that is not the main detection device among the walking encoder and the laser device is used as the new main detection device.

[0043] Furthermore, the location determination module is used to:

[0044] After determining whether the difference between the first position and the second position is less than or equal to a preset threshold, generating a cutting vehicle positioning alarm signal when the difference between the first position and the second position is greater than the preset threshold;

[0045] receiving a fault inspection result returned in response to the cutting vehicle positioning alarm signal;

[0046] When the fault inspection result indicates that the travel encoder is abnormal, the second position is used as the actual position of the slab cutting vehicle corresponding to the current moment;

[0047] When the fault inspection result indicates that an abnormality exists in the laser device, the first position is used as the actual position of the slab cutting vehicle corresponding to the current moment.

[0048] Furthermore, the information conversion module is used to:

[0049] The first position of the slab cutting vehicle corresponding to the current moment is determined according to the rack transmission accuracy corresponding to the travel encoder and the pulse signal.

[0050] Furthermore, the information conversion module is used to:

[0051] Performing analog-to-digital conversion on the laser signal to determine a corresponding digital signal;

[0052] The second position of the slab cutting vehicle corresponding to the current moment is determined according to the digital signal and the laser propagation speed.

[0053] Furthermore, the device also includes a time replacement module, which is used to:

[0054] After taking the first position or the second position as the actual position corresponding to the slab cutting vehicle at the current moment, the next moment is updated as the current moment, and for the updated current moment, the steps of obtaining the pulse signal generated by the walking encoder at the current moment during the operation of the slab cutting vehicle and obtaining the laser signal generated by the laser equipment at the current moment during the operation of the slab cutting vehicle are returned.

[0055] In a third aspect, the present application provides an electronic device, comprising:

[0056] processor;

[0057] a memory for storing instructions executable by the processor;

[0058] Wherein, the processor is configured to execute to implement a slab cutting vehicle positioning method provided in the first aspect.

[0059] In a fourth aspect, the present application provides a non-temporary computer-readable storage medium, which, when the instructions in the storage medium are executed by a processor of an electronic device, enables the electronic device to execute a slab cutting vehicle positioning method as provided in the first aspect.

[0060] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0061] The embodiment of the present application uses both a traveling encoder and a laser device to detect the position information of the cutting vehicle. On the one hand, if either the traveling encoder or the laser device fails, the other device can still detect the position information of the cutting vehicle normally, thereby allowing the casting machine to continue production normally without stopping the casting machine for processing, reducing material and time losses during the production process, ensuring that the impact on the production process is minimal, or even avoids affecting the production process. At the same time, the faulty equipment can be repaired or replaced to ensure the timeliness and accuracy of the cutting vehicle position acquisition.

[0062] On the other hand, the position information detected by the walking encoder and the laser equipment can verify each other to determine whether the accuracy of the position information detected by the two devices is high, so as to improve the accuracy of the positioning of the cutting vehicle, and then improve the accuracy of the billet cutting length, reduce the impact on the order fulfillment of the subsequent rolling process, and reduce the probability of cutting damage to the slab roller, thereby ensuring the surface quality of the billet, reducing the probability of quality accidents in the subsequent rolling process, and trying to avoid the occurrence of roller breakage and casting machine broken billet accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0064] Figure 1 A schematic structural diagram of a control system of a slab cutting vehicle provided in an embodiment of the present application;

[0065] Figure 2 A schematic flow chart of a slab cutting vehicle positioning method provided in an embodiment of the present application;

[0066] Figure 3 A schematic structural diagram of a slab cutting vehicle positioning device provided in an embodiment of the present application;

[0067] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0068] The embodiments of the present application provide a slab cutting vehicle positioning method, thereby solving the technical problem in the prior art that the slab cutting vehicle mainly relies on an encoder to achieve position positioning, but the accuracy of the position information detected by the encoder is not high.

[0069] The technical solution of the embodiment of the present application is to solve the above technical problems, and the overall idea is as follows:

[0070] The embodiment of the present application uses both a traveling encoder and a laser device to detect the position information of the cutting vehicle. On the one hand, if either the traveling encoder or the laser device fails, the other device can still detect the position information of the cutting vehicle normally, thereby allowing the casting machine to continue production normally without stopping the casting machine for processing, reducing material and time losses during the production process, ensuring that the impact on the production process is minimal, or even avoids affecting the production process. At the same time, the faulty equipment can be repaired or replaced to ensure the timeliness and accuracy of the cutting vehicle position acquisition.

[0071] On the other hand, the position information detected by the walking encoder and the laser equipment can verify each other to determine whether the accuracy of the position information detected by the two devices is high, so as to improve the accuracy of the positioning of the cutting vehicle, and then improve the accuracy of the billet cutting length, reduce the impact on the order fulfillment of the subsequent rolling process, and reduce the probability of cutting damage to the slab roller, thereby ensuring the surface quality of the billet, reducing the probability of quality accidents in the subsequent rolling process, and trying to avoid the occurrence of roller breakage and casting machine broken billet accidents.

[0072] In order to better understand the above technical solution, the above technical solution will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0073] First, the term "and / or" as used herein simply describes a relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A alone, A and B together, or B alone. Furthermore, the character " / " in this document generally indicates an "or" relationship between the associated objects.

[0074] The control system of the slab cutting vehicle is first described in the embodiment of the present application as follows:

[0075] The control system of the slab cutting vehicle is as follows Figure 1 As shown, the system includes the cutting machine body, deceleration limit, in-situ limit, laser range sensor (referred to as laser equipment), cutting machine PLC (Programmable Logic Controller) control system, cutting machine variable frequency drive control system, and cutting machine HMI (Human Machine Interface). The cutting machine body includes the machine travel motor, travel encoder, and gun travel motor.

[0076] The cutting car body is controlled by the cutting car variable frequency drive control system to realize the pressing and lifting of the cutting car, the fixed-length cutting of the casting, the forward and backward movement of the cutting car, and the forward and backward movement of the cutting gun.

[0077] The cutting machine body mainly includes the machine travel motor, gun (referring to the cutting gun) travel motor, cutting gun medium valve station (not in Figure 1 Shown in), travel encoder, cutting car pressing device (not shown in Figure 1 shown in ) etc.

[0078] The car travel motor uses a variable frequency speed regulation motor, which is installed on both sides of the cutting car. The forward and backward movement of the cutting car is achieved through variable frequency transmission control. The gun travel motor uses a variable frequency transmission motor, which is installed on the cutting gun running track together with the gun travel device. The forward and backward movement of the cutting gun is achieved through variable frequency control. The cutting gun medium valve station is composed of solenoid valves and pipelines for oxygen, gas, compressed air, etc. The pipeline of the valve station is connected to the cutting gun. When the valve is opened, preheating gas and cutting oxygen enter the cutting gun to achieve the preheating and cutting functions of the continuous casting billet. The cutting car pressing device adopts a cylinder pressing device or a motor-driven pressing device. A connecting pressure plate is installed at the end of the device. The pressure plate presses on the upper surface of the billet. Through this pressing device, the synchronous operation of the cutting car and the billet is achieved.

[0079] The travel encoder adopts a universal incremental encoder, which is connected to the rotating gear disc installed on the side of the cutting vehicle body through a coupling. The rotating gear disc is engaged with the rack installed on the side of the cutting vehicle roller. When the cutting vehicle is moving, the travel encoder generates a pulse signal through the rotation of the gear disc and returns it to the high-speed counting module of the cutting vehicle PLC control system, which is converted into the real-time position detection signal of the cutting vehicle through the program.

[0080] The deceleration limit is used to switch between high speed and low speed during the cutting operation of the cutting vehicle. For example, when the cutting vehicle body is moving toward the continuous casting billet at the first speed, when the deceleration limit is touched, the deceleration limit returns an acceleration trigger signal to the cutting vehicle PLC control system, and the cutting vehicle PLC control system responds to the acceleration trigger signal to control the cutting vehicle to start speeding up from the first speed to the higher second speed. When the cutting vehicle body is moving away from the continuous casting billet at the second speed, when the deceleration limit is touched, the deceleration limit returns a deceleration trigger signal to the cutting vehicle PLC control system, and the cutting vehicle PLC control system responds to the deceleration trigger signal to control the cutting vehicle to start decelerating from the second speed to the first speed or to a lower speed. The deceleration limit uses an inductive proximity switch;

[0081] The home limit is used to signal the vehicle to stop when returning to its home position. It also serves as the zero reset signal for the travel encoder within the program, clearing any accumulated errors that may have occurred during its operation. For example, if the travel encoder relies on a rack drive and the rack experiences loss of counts or slippage during its current travel, the error could be tens of millimeters if the encoder loses several or even dozens of teeth, representing a 2mm error per tooth. At the end of the travel, the home limit is triggered, clearing the error, preventing error accumulation and ensuring the accuracy of the travel encoder. The stop limit is configured using an inductive proximity switch.

[0082] The laser equipment is installed in the cutting operation area. The analog signal generated by the laser equipment is returned to the program module of the cutting vehicle PLC control system and converted into a real-time cutting position detection signal through the program; the laser ranging sensor uses a diffuse reflection laser ranging sensor.

[0083] The cutting car PLC control system is the core control system for the operation of the cutting car. The PLC program controls the cutting car body and the cutting gun frequency conversion drive system, and then controls the forward and backward movement of the cutting car body and the cutting gun. The PLC controls the pressing and lifting of the cutting car, and controls the opening and closing of the cutting medium gas solenoid valve. The input module of the PLC control system receives the analog signal of the cutting car travel encoder and the laser ranging analog signal, etc.

[0084] The cutting car variable frequency drive system is used to drive the cutting car trolley travel motor and the gun travel motor to realize the operation of the cutting car and the cutting gun; the cutting car variable frequency drive control system uses a vector inverter, input reactor, and output reactor.

[0085] Cutting machine HM I is used by the operator to monitor the operation of the cutting machine body and manually operate abnormal situations; HM I uses industrial PC and industrial control software.

[0086] The embodiment of the present application is described above Figure 1 Based on the cutting vehicle control system shown in the figure, it provides Figure 2 A slab cutting vehicle positioning method is shown, and the method includes steps S21 to S25, which can be specifically executed by the cutting vehicle PLC control system.

[0087] Step S21, during the operation of the slab cutting vehicle, obtaining a pulse signal generated by the travel encoder at the current moment, and obtaining a laser signal generated by the laser device at the current moment;

[0088] Step S22, determining a first position of the slab cutting vehicle corresponding to the current moment according to the pulse signal;

[0089] Step S23, determining a second position of the slab cutting vehicle corresponding to the current moment according to the laser signal;

[0090] Step S24, determining whether the difference between the first position and the second position is less than or equal to a preset threshold;

[0091] Step S25: when the difference between the first position and the second position is less than or equal to the preset threshold, taking the first position or the second position as the actual position corresponding to the slab cutting vehicle at the current moment.

[0092] Regarding step S21, during the operation of the slab cutting vehicle, a pulse signal generated by the travel encoder at the current moment is obtained, and a laser signal generated by the laser device at the current moment is obtained.

[0093] During the operation of the slab cutting vehicle, a travel encoder and laser equipment are used to collect real-time position information of the slab cutting vehicle at a preset frequency. The preset frequency can be set according to actual needs, for example, once every 0.5 seconds. This embodiment of the present application uses an arbitrary current moment during the operation of the slab cutting vehicle as an example to illustrate a slab cutting vehicle positioning method provided in this embodiment.

[0094] The travel encoder collects the current position signal (i.e., pulse signal) of the slab cutting vehicle. The PLC control system of the cutting vehicle obtains the pulse signal generated by the travel encoder at the current moment and then proceeds to step S22. Similarly, the laser equipment collects the current position signal (i.e., laser signal) of the slab cutting vehicle. The PLC control system of the cutting vehicle obtains the laser signal generated by the laser equipment at the current moment and then proceeds to step S23. Steps S22 and S23 can be performed simultaneously.

[0095] Regarding step S22, a first position of the slab cutting vehicle corresponding to the current moment is determined according to the pulse signal.

[0096] The first position of the slab cutting vehicle at the current moment is determined based on the rack transmission accuracy corresponding to the travel encoder and the pulse signal. Rack transmission accuracy refers to the actual travel distance of the slab cutting vehicle corresponding to each rotation of the travel encoder tooth. The pulse signal is essentially a counting signal. By multiplying the rack transmission accuracy and the pulse signal, the first position of the slab cutting vehicle at the current moment can be determined.

[0097] Regarding step S23, the second position of the slab cutting vehicle corresponding to the current moment is determined according to the laser signal.

[0098] First, the laser signal is converted into digital form to determine a corresponding digital signal; then, the second position corresponding to the slab cutting vehicle at the current moment is determined based on the digital signal and the laser propagation speed.

[0099] Regarding step S24, it is determined whether the difference between the first position and the second position is less than or equal to a preset threshold.

[0100] Determine the difference between the first position and the second position, specifically determine the distance difference between the first position and the second position. When the distance difference is less than or equal to a preset threshold, proceed to step S25; when the distance difference is greater than the preset threshold, proceed to steps S41 to S44.

[0101] The preset threshold can be determined based on the actual accuracy requirements. When the accuracy requirements are high, a smaller preset threshold, such as 2mm, can be selected to improve the cutting quality of the continuous casting billet. When the accuracy requirements are low, a larger preset threshold, such as 5mm, can be selected to reduce the frequency of the cutting car positioning alarm and ensure high cutting efficiency.

[0102] Regarding step S25, when the difference between the first position and the second position is less than or equal to the preset threshold, the first position or the second position is used as the actual position of the slab cutting vehicle at the current moment.

[0103] When the difference between the first position and the second position is less than or equal to the preset threshold, it means that the walking encoder and the laser equipment are in normal operation, and the position data of the cutting vehicle detected by both are accurate. Therefore, any one of the first position and the second position can be used as the actual position corresponding to the slab cutting vehicle at the current moment.

[0104] In addition, when the walking encoder and the laser device distinguish between master and slave devices, that is, when the walking encoder and the laser device distinguish between signal priorities, step S25 may further include steps S251 to S253.

[0105] Step S251, when the difference between the first position and the second position is less than or equal to the preset threshold, determining whether the main detection device for detecting the position of the slab cutting vehicle is the traveling encoder or the laser device;

[0106] Step S252: when the main detection device is the travel encoder, taking the first position as the actual position of the slab cutting vehicle corresponding to the current moment;

[0107] Step S253: When the main detection device is the laser device, the second position is used as the actual position of the slab cutting vehicle at the current moment.

[0108] Determining whether the primary detection device for detecting the position of the slab cutting vehicle is the traveling encoder or the laser device can be performed by determining whether a sign of a flag bit of the primary detection device corresponds to a code of the traveling encoder or a code of the laser device. For example, when the flag bit of the primary detection device is 1, it means that the traveling encoder is the primary detection device, and when the flag bit of the primary detection device is 0, it means that the laser device is the primary detection device.

[0109] In addition, during the operation of the slab cutting vehicle, the method further includes steps S31 and S32.

[0110] Step S31, receiving a device change signal from a main detection device, wherein the main detection device is a device with the highest priority for detecting the position of the slab cutting vehicle;

[0111] Step S32: In response to the device change signal, the device that is not the main detection device among the walking encoder and the laser device is used as the new main detection device.

[0112] The user can change the primary detection device through the cutting vehicle HMI. When the user triggers the HMI to generate a primary detection device change signal, the cutting vehicle PLC control system uses the travel encoder and the laser device that is not the primary detection device as the new primary detection device. After the current time is updated to the next time, the process returns to steps S21-S25 based on the new primary detection device.

[0113] After determining whether the difference between the first position and the second position is less than or equal to a preset threshold, the method further includes steps S41 to S44.

[0114] Step S41, when the difference between the first position and the second position is greater than the preset threshold, generating a cutting vehicle positioning alarm signal;

[0115] Step S42, receiving a fault inspection result returned in response to the cutting vehicle positioning alarm signal;

[0116] Step S43: when the fault inspection result indicates that the travel encoder is abnormal, the second position is used as the actual position of the slab cutting vehicle corresponding to the current moment;

[0117] Step S44: When the fault inspection result indicates that the laser device is abnormal, the first position is used as the actual position of the slab cutting vehicle at the current moment.

[0118] When the difference between the first position and the second position is greater than the preset threshold, it indicates that there is an abnormality in at least one of the walking encoder and the laser equipment, and then a cutting vehicle positioning alarm signal is generated and displayed in the cutting vehicle HMI to promptly remind the operator to handle the abnormality.

[0119] Normally, the operator will ask the on-site staff to check whether the abnormality lies with the travel encoder or the laser equipment, and provide feedback on the results. After the operator knows which equipment is abnormal, he or she can input the abnormality inspection results through the cutting machine HMI.

[0120] When the fault inspection result indicates that an abnormality exists in the travel encoder, the position information detected by the laser device is accurate, and the second position is used as the actual position corresponding to the slab cutting vehicle at the current moment.

[0121] When the fault inspection result indicates that an abnormality exists in the laser device, the position information detected by the travel encoder is accurate, and the first position is used as the actual position corresponding to the slab cutting vehicle at the current moment.

[0122] Furthermore, after taking the first position or the second position as the actual position corresponding to the slab cutting vehicle at the current moment, as the moment changes, the next moment is updated as the current moment, and for the updated current moment, the steps of obtaining the pulse signal generated by the walking encoder at the current moment during the operation of the slab cutting vehicle and obtaining the laser signal generated by the laser equipment at the current moment during the operation of the slab cutting vehicle are returned to be executed.

[0123] It should be noted that the relevant technology only relies on the traveling encoder to detect the position of the cutting car. However, the accuracy of the position information detected by the encoder is not high, which results in inaccurate cutting of the ingots, affecting the order fulfillment of the subsequent rolling process, and may also cause cutting damage to the slab roller, thereby affecting the surface quality of the ingots and causing quality accidents in the subsequent rolling process. Severe cutting may cause the roller to break, resulting in the occurrence of accidents in which the casting machine breaks the casting of horizontal billets. In addition, due to the limited installation location and space, the traveling encoder body or circuit cannot be replaced during the production process if it is damaged. Once the cutting car cannot be positioned, the casting machine cannot be produced and the casting machine can only be stopped for processing.

[0124] The embodiment of the present application uses both a travel encoder and a laser device to detect the position information of the cutting vehicle. On the one hand, if either the travel encoder or the laser device fails, the other device can still detect the position information of the cutting vehicle normally, thereby allowing the casting machine to continue production normally without stopping the casting machine for processing, reducing material and time losses during the production process, ensuring that the impact on the production process is minimal, or even avoiding any impact on the production process. At the same time, the faulty equipment can be repaired or replaced to ensure the timeliness and accuracy of the cutting vehicle position acquisition.

[0125] On the other hand, the position information detected by the walking encoder and the laser equipment can verify each other to determine whether the accuracy of the position information detected by the two devices is high, so as to improve the accuracy of the positioning of the cutting vehicle, and then improve the accuracy of the billet cutting length, reduce the impact on the order fulfillment of the subsequent rolling process, and reduce the probability of cutting damage to the slab roller, thereby ensuring the surface quality of the billet, reducing the probability of quality accidents in the subsequent rolling process, and trying to avoid the occurrence of roller breakage and casting machine broken billet accidents.

[0126] In addition, since laser equipment can achieve non-contact detection through laser detection distance range, its installation, maintenance and replacement are relatively simpler and faster.

[0127] Based on the same inventive concept, the present application provides the following embodiments: Figure 3 A slab cutting vehicle positioning device is shown, the device comprising:

[0128] An acquisition module 31 is used to acquire a pulse signal generated by a travel encoder at a current moment and a laser signal generated by a laser device at the current moment during the operation of the slab cutting vehicle;

[0129] An information conversion module 32 is configured to determine a first position of the slab cutting vehicle corresponding to the current moment according to the pulse signal;

[0130] determining a second position of the slab cutting vehicle corresponding to the current moment according to the laser signal;

[0131] an error determination module 33, configured to determine whether the difference between the first position and the second position is less than or equal to a preset threshold;

[0132] The position determination module 34 is configured to use the first position or the second position as the actual position of the slab cutting vehicle at the current moment when the difference between the first position and the second position is less than or equal to the preset threshold.

[0133] Furthermore, the location determination module 34 is configured to:

[0134] When the difference between the first position and the second position is less than or equal to the preset threshold, determining whether the main detection device for detecting the position of the slab cutting vehicle is the traveling encoder or the laser device;

[0135] When the main detection device is the travel encoder, the first position is used as the actual position of the slab cutting vehicle corresponding to the current moment;

[0136] When the main detection device is the laser device, the second position is used as the actual position of the slab cutting vehicle corresponding to the current moment.

[0137] Furthermore, the device also includes a main detection device replacement module, which is used to:

[0138] During the operation of the slab cutting vehicle, receiving a device change signal from a main detection device, wherein the main detection device is a device with the highest priority for detecting the position of the slab cutting vehicle;

[0139] In response to the device change signal, the device that is not the main detection device among the walking encoder and the laser device is used as the new main detection device.

[0140] Furthermore, the location determination module 34 is configured to:

[0141] After determining whether the difference between the first position and the second position is less than or equal to a preset threshold, generating a cutting vehicle positioning alarm signal when the difference between the first position and the second position is greater than the preset threshold;

[0142] receiving a fault inspection result returned in response to the cutting vehicle positioning alarm signal;

[0143] When the fault inspection result indicates that the travel encoder is abnormal, the second position is used as the actual position of the slab cutting vehicle corresponding to the current moment;

[0144] When the fault inspection result indicates that an abnormality exists in the laser device, the first position is used as the actual position of the slab cutting vehicle corresponding to the current moment.

[0145] Furthermore, the information conversion module 32 is used to:

[0146] The first position of the slab cutting vehicle corresponding to the current moment is determined according to the rack transmission accuracy corresponding to the travel encoder and the pulse signal.

[0147] Furthermore, the information conversion module 32 is used to:

[0148] Performing analog-to-digital conversion on the laser signal to determine a corresponding digital signal;

[0149] The second position of the slab cutting vehicle corresponding to the current moment is determined according to the digital signal and the laser propagation speed.

[0150] Furthermore, the device also includes a time replacement module, which is used to:

[0151] After taking the first position or the second position as the actual position corresponding to the slab cutting vehicle at the current moment, the next moment is updated as the current moment, and for the updated current moment, the steps of obtaining the pulse signal generated by the walking encoder at the current moment during the operation of the slab cutting vehicle and obtaining the laser signal generated by the laser equipment at the current moment during the operation of the slab cutting vehicle are returned.

[0152] Based on the same inventive concept, the present application provides the following embodiments: Figure 4 An electronic device as shown includes:

[0153] Processor 41;

[0154] a memory 42 for storing instructions executable by the processor 41;

[0155] The processor 41 is configured to execute and implement a slab cutting vehicle positioning method as provided above.

[0156] Based on the same inventive concept, an embodiment of the present application provides a non-temporary computer-readable storage medium. When the instructions in the storage medium are executed by the processor 41 of the electronic device, the electronic device can execute a slab cutting vehicle positioning method as provided above.

[0157] Since the electronic device described in this embodiment is an electronic device used to implement the information processing method in the embodiment of this application, based on the information processing method described in the embodiment of this application, those skilled in the art will be able to understand the specific implementation of the electronic device of this embodiment and its various variations, so how the electronic device implements the method in the embodiment of this application will not be described in detail here. As long as those skilled in the art implement the electronic device used by the information processing method in the embodiment of this application, it falls within the scope of protection to be provided by this application.

[0158] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0159] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0160] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0161] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0162] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0163] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A slab cutting vehicle positioning method, characterized in that: The method comprises: During the operation of the slab cutting vehicle, a pulse signal generated by the travel encoder at the current moment is obtained, and a laser signal generated by the laser device at the current moment is obtained; Determine a first position of the slab cutting vehicle corresponding to the current moment according to the pulse signal; Determine a second position of the slab cutting vehicle corresponding to the current moment according to the laser signal; Determining whether the difference between the first position and the second position is less than or equal to a preset threshold; When the difference between the first position and the second position is less than or equal to the preset threshold, the first position or the second position is used as the actual position corresponding to the slab cutting vehicle at the current moment.

2. The method according to claim 1, characterized in that When the difference between the first position and the second position is less than or equal to the preset threshold, taking the first position or the second position as the actual position of the slab cutting vehicle corresponding to the current moment comprises: When the difference between the first position and the second position is less than or equal to the preset threshold, determining whether the main detection device for detecting the position of the slab cutting vehicle is the travel encoder or the laser device; When the main detection device is the travel encoder, the first position is used as the actual position of the slab cutting vehicle corresponding to the current moment; When the main detection device is the laser device, the second position is used as the actual position corresponding to the slab cutting vehicle at the current moment.

3. The method according to claim 1, characterized in that During the operation of the slab cutting vehicle, the method further comprises: Receiving a device change signal of a main detection device, wherein the main detection device is a device for detecting the position of the slab cutting vehicle and has the highest priority; In response to the device change signal, the device among the walking encoder and the laser device that is not the main detection device is used as the new main detection device.

4. The method according to claim 1, characterized in that After determining whether the difference between the first position and the second position is less than or equal to a preset threshold, the method further includes: When the difference between the first position and the second position is greater than the preset threshold, generating a cutting vehicle positioning alarm signal; receiving a fault inspection result returned in response to the cutting vehicle positioning alarm signal; When the fault inspection result indicates that the travel encoder is abnormal, the second position is used as the actual position of the slab cutting vehicle corresponding to the current moment; When the fault inspection result indicates that an abnormality exists in the laser device, the first position is used as the actual position corresponding to the slab cutting vehicle at the current moment.

5. The method according to claim 1, characterized in that Determining the first position of the slab cutting vehicle corresponding to the current moment according to the pulse signal includes: The first position of the slab cutting vehicle corresponding to the current moment is determined according to the rack transmission accuracy corresponding to the travel encoder and the pulse signal.

6. The method according to claim 1, characterized in that The determining, according to the laser signal, the second position of the slab cutting vehicle corresponding to the current moment comprises: Performing analog-to-digital conversion on the laser signal to determine a corresponding digital signal; The second position of the slab cutting vehicle corresponding to the current moment is determined according to the digital signal and the laser propagation speed.

7. The method according to claim 1, characterized in that After taking the first position or the second position as the actual position of the slab cutting vehicle corresponding to the current moment, the method further includes: Update the next moment as the current moment, and for the updated current moment, return to execute the steps of obtaining the pulse signal generated by the walking encoder at the current moment during the operation of the slab cutting vehicle, and obtaining the laser signal generated by the laser equipment at the current moment during the operation of the slab cutting vehicle.

8. A slab cutting vehicle positioning device, characterized in that: The device comprises: An acquisition module, used to acquire the pulse signal generated by the travel encoder at the current moment and the laser signal generated by the laser device at the current moment during the operation of the slab cutting vehicle; An information conversion module, used for determining a first position of the slab cutting vehicle corresponding to the current moment according to the pulse signal; Determine a second position of the slab cutting vehicle corresponding to the current moment according to the laser signal; an error determination module, configured to determine whether the difference between the first position and the second position is less than or equal to a preset threshold; The position determination module is used to use the first position or the second position as the actual position of the slab cutting vehicle corresponding to the current moment when the difference between the first position and the second position is less than or equal to the preset threshold.

9. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; Wherein, the processor is configured to execute to implement a slab cutting vehicle positioning method as described in any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium, when the instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to implement a slab cutting vehicle positioning method as described in any one of claims 1 to 7.

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