Refining rotary table automatic control system based on laser ranging

Abstract

The invention discloses a refining rotary table automatic control system based on laser ranging, and relates to the technical field of refining rotary table control, and the system comprises a data collection module which is used for collecting the target position of a target object and the current actual drop point position; the data analysis unit is used for analyzing and judging the current actual drop point position acquired by the data acquisition module so as to confirm whether the actual drop point position of the target object meets the expectation or not; the feedback adjustment unit is used for adjusting and compensating the motion parameters of the rotary table and generating adjustment parameter information when the actual drop point position of the target object does not conform to the expectation; after the deviation of the drop point position of the target object is determined, new adjustment parameters are generated according to the collected related data to control the rotary table, so that the deviation of the target object can be corrected, and the target object can return to an accurate position; and therefore, the situation that molten steel overflows due to butt joint errors caused by deviation of the drop point position can be prevented.

Description

Technical Field

[0001] The invention relates to the technical field of refining turntable control, and more specifically to an automatic control system of a refining turntable based on laser ranging. Background Art

[0002] During the steel refining process, the refining turntable needs to transfer the ladle accurately. The automatic control system based on laser ranging can accurately control the rotation angle and position of the turntable to ensure that the ladle can be accurately aligned with the feed port of the refining furnace or other related equipment.

[0003] When pouring molten steel in the ladle into the refining furnace, the system can ensure the accurate injection of molten steel, avoid overflow or incomplete injection, and improve refining efficiency and quality. However, in actual application scenarios, the ladle may shake slightly during the lifting process, which may easily cause the ladle and other containers to fall on the turntable in the expected position, and there may be an offset, which may cause safety risks such as molten steel overflow due to docking errors. Summary of the invention

[0004] In order to solve the above problems, the present invention provides an automatic control system for a refining turntable based on laser ranging.

[0005] The present invention provides a laser ranging based refining turntable automatic control system, comprising:

[0006] A data acquisition module is used to collect the target position and current actual landing position of the target object;

[0007] A data analysis unit is used to analyze and judge the current actual landing point position collected by the data collection module to confirm whether the actual landing point position of the target object meets expectations;

[0008] A feedback adjustment unit, for adjusting and compensating the motion parameters of the turntable when the actual landing point of the target object does not meet expectations, and generating adjustment parameter information;

[0009] The execution unit drives the turntable according to the adjustment parameter information when receiving the adjustment parameter information of the feedback adjustment unit, and drives the turntable according to the adjustment parameter of the original state if the adjustment parameter information of the feedback adjustment unit is not received.

[0010] Preferably, the specific working mode of the feedback adjustment unit is as follows:

[0011] Obtain the position deviation d of the target object;

[0012] Get the left speed v of the turntable l , right side speed of the turntable v r;

[0013] When d<0, that is, the target position is forward and to the left, the formula v r =v0+k|d| to get the new right side speed;

[0014] By formula v l =v0-k|d| / 2 to get the new left speed;

[0015] Among them, k is the adjustment coefficient, and v0 is the speed on both sides of the turntable that is equal under normal circumstances.

[0016] Preferably, the determination of the adjustment coefficient k comprises the following steps:

[0017] Obtain the length L, width W, height H, and weight M of the target object;

[0018] By formula Get a coefficient with the length L, width W, height H, and weight M of the target object;

[0019] Obtain the flow coefficient C2 of molten steel and the height coefficient of molten steel level h is the liquid level of molten steel;

[0020] By formula Where k0 is the initial basic adjustment coefficient.

[0021] Preferably, the feedback adjustment unit further includes path replanning, specifically:

[0022] Get the actual landing point coordinates (X0, Y0) of the target object;

[0023] Get the target position coordinates (X t , Y t );

[0024] Compare the current target actual landing point position with the target position, determine the direction and degree of deviation and determine the radius R based on the actual space situation;

[0025] Draw an arc with the actual landing point coordinates (X0, Y0) of the current target object as the center of the circle;

[0026] Establish parametric equations for points on the arc;

[0027] Control the target object to move along the drawn arc trajectory;

[0028] Determine whether the motion trajectory approaching the target position meets expectations;

[0029] Adjust the target object to move to the target position according to the actual situation.

[0030] Preferably, the specific steps of determining the radius R by determining the direction and degree of the deviation and combining it with the actual space situation are:

[0031] Set a deviation threshold in advance;

[0032] Compare the obtained deviation value with the deviation threshold;

[0033] If it is less than or equal to the deviation threshold;

[0034] Get the horizontal deviation D x , vertical deviation D y ;

[0035] By formula Get the comprehensive deviation value;

[0036] The radius is obtained by r = Q1d, where Q1 is an adjustment factor less than 1;

[0037] Get the distance S between the target object and the nearest obstacle around it min, ;

[0038] Ensure r ≦ S min -△S, △S is the safety distance margin.

[0039] Preferably, the specific steps of determining whether the motion trajectory approaching the target position meets expectations are:

[0040] By formula The distance between the current position of the target object and the target position is calculated in real time;

[0041] Set a threshold d in advance th , d0 and threshold d th For comparison, if it is less than the threshold d th , then enter the target position adjustment phase;

[0042] If it is greater than the threshold d th , the motion trajectory does not meet expectations and requires manual intervention.

[0043] Preferably, the specific steps of adjusting the target object to move to the target position according to the actual situation are:

[0044] Reduce the rate of change of parameters so that the target object slowly approaches the target position;

[0045] The value of d0 is obtained in real time until the target object reaches the accurate position.

[0046] Preferably, the obtained deviation value is compared with the deviation threshold, and if it is less than the deviation threshold, the following steps are included:

[0047] A new adjustment coefficient value Q2 is preset, wherein Q2 is smaller than Q1;

[0048] Obtaining that the deviation degree of the target object is alleviated to a predetermined range under the new adjustment coefficient Q2;

[0049] A new adjustment coefficient value Q3 is set again, wherein Q3 is greater than Q2;

[0050] The target object is further adjusted according to the new adjustment coefficient Q3.

[0051] Preferably, the obtained deviation value is compared with the deviation threshold, and if it is less than the deviation threshold, the following steps are further included:

[0052] The current actual landing point coordinates (X0, Y0) of the target object are used as the center of the circle, and the radius of the first arc is determined according to the deviation size and the surrounding space conditions;

[0053] Use parametric equations to guide the target object to move in the direction of the target position;

[0054] After the target object moves to the end point of the first planned path, the second arc is planned according to the current new position and the remaining deviation and the new center of the circle is determined until the target object moves to the target position.

[0055] Preferably, the obtained deviation value is compared with the deviation threshold, and if it is less than the deviation threshold, the following steps are further included:

[0056] Set a transition point greater than or equal to 1 between the current actual landing point position and the target position;

[0057] After the target object reaches the transition point, the route is replanned to the target location.

[0058] Beneficial effects: Because the target object itself has a certain weight and center of gravity distribution, in order to maintain the balance of the target object during movement, especially when turning or adjusting the position, the center of gravity of the target object is stabilized by adjusting different left and right speeds, which helps to reduce the situation where the center of gravity of the target object is excessively offset when changing the direction of movement, thereby affecting the stability of the molten steel;

[0059] And through different speed adjustments, they can cooperate with each other to a certain extent to reduce the shaking of molten steel in the target object. For example, when the speed on one side gradually increases and the speed on the other side gradually decreases, the movement of the target object can be made smoother. Compared with the sudden change of a single speed, this method causes less disturbance to the molten steel, which helps to meet the requirements of the refining process for the stability of the molten steel. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 It is a flow chart of the automatic control system of the present invention. DETAILED DESCRIPTION

[0061] Application scenarios: When pouring molten steel from the ladle into the refining furnace, the system can ensure accurate injection of molten steel, avoid overflow or incomplete injection, and improve refining efficiency and quality. However, in actual application scenarios, the ladle may shake slightly during the lifting process, which may easily cause the ladle and other containers to fall on the turntable in the unexpected position and may be offset, which may cause safety risks such as molten steel overflow due to docking errors.

[0062] like Figure 1 Shown: An automatic control system for a refining turntable based on laser ranging, comprising:

[0063] The data acquisition module is used to collect the target position and the current actual landing position of the target object; it should be noted that the target position refers to the pre-divided position range where the target object falls on the turntable, and the current actual landing position refers to the current stop position of the target object after it falls on the turntable;

[0064] The actual current landing point of the target object can be obtained based on a laser rangefinder and other indoor positioning technologies. For example, position sensors such as photoelectric sensors and encoders can be installed in the system. These sensors can accurately measure the current position information of the target object. For example, the encoder can be installed on the rotating shaft of the turntable. It encodes the rotation angle of the shaft to obtain the current angular position of the turntable, and combines with other auxiliary sensors to determine the relative position of the target object relative to the turntable.

[0065] The target position is a position range that is divided and set in advance.

[0066] The data analysis unit is used to analyze and judge the current actual landing point position collected by the data acquisition module to confirm whether the actual landing point position of the target object meets the expectation; it should be noted that after the target object falls on the turntable, the actual landing point on the current target object can be obtained through the data acquisition module, and by comparing it with the target position, it can be judged whether the landing point of the target object is within the pre-divided staying range, and whether it meets the expected staying position;

[0067] It should be further explained that the data analysis unit can also filter and calibrate the collected distance data to improve the accuracy and reliability of the data.

[0068] The feedback adjustment unit is used to adjust and compensate the motion parameters of the turntable when the actual landing point of the target object does not meet expectations, and generate adjustment parameter information; it should be noted that the turntable will set the corresponding motion parameters in advance in the initial state. After the actual landing point of the target object is determined and it is judged that it does not meet expectations, the feedback adjustment unit will adjust the initial motion parameters of the turntable according to the actual deviation and generate new adjustment parameters.

[0069] an execution unit, which drives the turntable according to the adjustment parameter information when receiving the adjustment parameter information of the feedback adjustment unit, and drives the turntable according to the adjustment parameter of the original state if the adjustment parameter information of the feedback adjustment unit is not received;

[0070] It should be noted that before the execution unit executes the rotation operation of the driving turntable, if a new adjustment parameter is received, the turntable is controlled according to the new adjustment parameter information to adjust the deviation of the target object by the new adjustment parameter, so as to correct the deviation of the target object and return it to the accurate position, thereby helping to prevent the occurrence of molten steel overflow caused by docking error due to the deviation of the landing point position;

[0071] If no new adjustment parameters are received, it means that the landing position of the target object is in line with expectations, and the turntable is driven according to the adjustment parameters in the original state;

[0072] It needs to be explained that after the position data of the target object is obtained, it is transmitted to the control system (execution unit). The transmission method can be wired communication (such as transmitting digital signals or analog signals through cables) or wireless communication (such as Bluetooth, ZigBee, etc., suitable for some special environments with wiring restrictions).

[0073] As an optional embodiment: the specific working mode of the feedback adjustment unit is as follows:

[0074] The position deviation d of the target object is obtained; it should be noted that a high-precision position sensor, such as a laser ranging sensor, can be installed near the track on which the target object runs or on the turntable. The laser ranging sensor emits a laser beam to the target object and calculates the distance between the sensor and the target object by measuring the time it takes for the laser to go back and forth. Multiple such sensors are installed at different positions on the track, and the deviation d can be obtained by comparing the distance difference of the target object relative to the preset correct position (determined by the layout and initial calibration of the sensor);

[0075] It can also be obtained through an encoder. If the target object is driven by a motor to move on the track, an encoder can be installed on the shaft of the motor. The encoder can accurately measure the rotation angle or number of turns of the motor, and according to the transmission relationship between the motor and the target object (for example, through gears, chains and other transmission devices), the motor's rotation information is converted into the linear displacement information of the target object, and then compared with the correct position information of the target object, so as to obtain the deviation d; In addition, there are many other existing technologies that can be obtained without further elaboration.

[0076] Get the left speed v of the turntable l , right side speed of turntable v r ;

[0077] When adjusting the position of the target object, flexible steering cannot be achieved by relying on a single speed. For example, when the target object deviates to the left, by increasing the right speed and reducing the left speed, the target object can have a tendency to turn to the right, thereby accurately correcting its position deviation. If there is only one speed, the turntable can only accelerate or decelerate as a whole, and it is difficult to achieve such fine position adjustment. Therefore, the turntable generally has two speeds;

[0078] It should be noted that after confirming that the position of the target object is deviated, the speeds of both sides of the turntable can be obtained through encoders and other existing devices to facilitate subsequent adjustments based on the deviation. Under normal circumstances, the speeds of both sides of the turntable are equal.

[0079] When d<0, that is, the target position is forward and to the left, the formula v r =v0+k|d| to get the new right side speed;

[0080] It should be explained that when the target object is in a forward position to the left, in order to adjust the target object back to the normal position, the target object needs to be moved to the right, so it is achieved by increasing the speed on the right and reducing the speed on the left. d cannot be a negative value, so it takes an absolute value;

[0081] The adjustment coefficient k is related to the deviation d. Therefore, generally speaking, the larger the deviation d, the larger the adjustment coefficient k may be, which can correct the position deviation of the target object more quickly, because the larger the deviation d, the larger the speed adjustment is required to return the target object to its normal position;

[0082] We assume that the normal speed v0 = 10m / s, the adjustment coefficient is 0.2, and the target object deviation is 0.5m. Then the new initial right speed v r =10+0.2*0.5=10.1m / s;

[0083] By formula v l =v0-k|d| / 2 to get the new left speed;

[0084] We assume that the speed decrease on the left is half of the speed increase on the right, and that other values ​​remain unchanged. l =10-0.2*0.5*0.5=9.95m / s;

[0085] It should be explained that, from the above, it can be concluded that as the deviation d increases, the speed adjustment amount will also increase accordingly to correct the position of the target object more quickly.

[0086] Among them, k is the adjustment coefficient, and v0 is the speed of both sides of the turntable being equal under normal circumstances;

[0087] It should be further explained that the coefficient of k can be determined according to actual conditions.

[0088] It should be noted that the adjustment speed cannot be too large to avoid excessive sloshing of the molten steel in the target object. Therefore, a maximum adjustment speed value v can be set in advance. max ;

[0089] Make v max Greater than or equal to v r and -v max Less than or equal to v l ;

[0090] When the target object is positioned to the right, that is, d>0, the adjustment method is opposite to the above, and will not be elaborated in detail;

[0091] It should be noted that, because the target object itself has a certain weight and center of gravity distribution, in order to maintain the balance of the target object during movement, especially when turning or adjusting the position, the center of gravity of the target object is stabilized by adjusting different left and right speeds, which helps to reduce the situation where the center of gravity of the target object is excessively offset when changing the direction of movement, thereby affecting the stability of the molten steel;

[0092] And through different speed adjustments, they can cooperate with each other to a certain extent to reduce the shaking of molten steel in the target object. For example, when the speed on one side gradually increases and the speed on the other side gradually decreases, the movement of the target object can be made smoother. Compared with the sudden change of a single speed, this method causes less disturbance to the molten steel, which helps to meet the requirements of the refining process for the stability of the molten steel.

[0093] As an optional embodiment: the determination of the adjustment coefficient k comprises the following steps:

[0094] The length L, width W, height H, and weight M of the target object are obtained; it should be noted that the length L, width W, height H, and weight M of the target object can be obtained through pre-factory drawings, and can also be tested through laser measurement technology, measuring tool measurement, and other methods.

[0095] By formula Get a coefficient with the target object length L, width W, height H, and weight M; It should be noted that by obtaining the target object length L, width W, height H, and weight M to get the coefficient C1, the combined size and weight information of the target object can make the speed adjustment more accurate. The motion characteristics of target objects of different sizes and weights on the turntable are very different;

[0096] For example, large and heavy targets require more careful adjustments when adjusting speed due to their large inertia. By introducing coefficients related to size and weight, speed adjustments can be personalized according to the specific characteristics of the target object, avoiding under-adjustment or over-adjustment.

[0097] Obtain the flow coefficient C2 of molten steel and the height coefficient of molten steel level h is the liquid level height h of the molten steel; it should be noted that the flow coefficient C2 of the molten steel can be obtained based on the fluid mechanics formula, for example, the flow coefficient of the molten steel can be calculated based on the basic equations in fluid mechanics, such as the Navier-Stokes equation, or it can be determined based on past experience;

[0098] The molten steel height coefficient C3 is obtained by the ratio of the height of the target object to the liquid level height h of the molten steel. The ratio of the height of the target object to the height of the molten steel can intuitively reflect the utilization of the space of the target object. This ratio can tell us the proportion of the molten steel in the target object.

[0099] For example, when this ratio is larger, it indicates that the liquid level of molten steel in the target object is lower and there is more free space inside the target object; conversely, when the ratio is smaller, it indicates that the molten steel occupies a larger space in the target object and is close to the capacity limit of the target object.

[0100] By formula Where k0 is the initial basic adjustment coefficient; it should be noted that the value of k0 needs to be determined based on the basic limitations of the turntable and molten steel sloshing. For example, assuming an ideal small target object and good turntable performance, k0 can be 0.1.

[0101] It should be noted that the adjustment coefficient is determined by considering multiple factors such as the weight, size (length, width, height), molten steel fluidity coefficient, molten steel level height and total height of the target object. Compared with considering a single factor, this comprehensive formula can calculate the appropriate adjustment coefficient based on specific parameter values.

[0102] For example, when the target object is large (length, width, height values ​​are large), the state of the molten steel inside it is also very different from that of a small target object. This formula can reasonably adjust the coefficient to adapt to this difference. The different fluidity of molten steel will also affect the process. The molten steel fluidity coefficient in the formula can adjust the coefficient to adapt to this change.

[0103] In actual application scenarios, the offset target object can be corrected by adjusting the speed on both sides of the turntable. However, for complex path planning, new adjustment methods may be required. For example, in the process from the starting point to the target point, it may be necessary to bypass some obstacles or meet specific process layout requirements. Therefore, based on the new deviation, it is also difficult to re-plan the optimal path from the current position to the target position so that the target object can return to the correct track in the shortest time and in the most stable manner. Therefore, based on the above situation, we propose the following solution.

[0104] As an optional embodiment: the feedback adjustment unit further includes path replanning, specifically:

[0105] The actual landing point coordinates (X0, Y0) of the target object are obtained; it should be noted that the method for obtaining the coordinates of the landing point can be obtained through a positioning system, such as using GPS (Global Positioning System), indoor positioning technology (such as based on Wi-Fi signal strength, Bluetooth positioning, ultra-wideband positioning, etc.). If there is a specific coordinate measurement device inside the factory, it can also be obtained through the measurement data of the device.

[0106] Get the target position coordinates (X t , Y t ); It should be noted that the coordinate point of the target position is preset.

[0107] It should be noted again that for GPS, the reference point is the large coordinate system of the earth. Generally, inside a factory, the reference point may be a fixed corner point of the factory building or a specially set coordinate origin, and then the specific coordinates of the target object are determined based on the relative position of the measuring instrument relative to this origin.

[0108] The current target actual landing point position is compared with the target position to determine the direction and degree of deviation and determine the radius R based on the actual space situation. It should be noted that when the target object is detected to be offset, the current actual landing point position coordinates (X0, Y0) are obtained and then relative to the preset target position coordinates (X t , Y t ), we can get the current target object relative to the target position coordinates (X t , Y t) and in actual application, if the degree of deviation is small, a relatively small radius R is selected.

[0109] Draw an arc with the actual landing point coordinates (X0, Y0) of the current target object as the center of the circle;

[0110] It should be explained that, for example, if the target object has a slight leftward deviation in the horizontal direction, an arc is drawn with the actual landing point coordinates (X0, Y0) as the center and a smaller radius R. Since the radius R is small, the curvature of the arc is relatively large, and the target object can change its direction of movement within a shorter path, thereby quickly correcting the horizontal deviation.

[0111] It should be noted that when determining the radius R, it can also be calculated according to a preset deviation-radius relationship table or formula.

[0112] Establish the parametric equation of the point on the arc; it should be noted that the parametric equation is specifically A = A0*Rcosθ, B = B0*Rsinθ;

[0113] Among them, A and B represent the coordinates of the center of the circle where the arc is located;

[0114] R is the determined radius;

[0115] θ is a parameter, which represents the angle between the ray that takes the center of the circle as the vertex and the horizontal right as the starting edge, and rotates counterclockwise to a point on the arc and the starting edge.

[0116] Control the target object to move along the drawn arc trajectory; it should be noted that after determining the arc trajectory, starting from the current position, set the initial parameter θ=0, and then gradually increase the parameter θ to move the target object along the arc; adjust the movement speed and direction of the target object by controlling the rate of change of θ.

[0117] For example, if the target object is to the left horizontally and to the bottom vertically, the speed at which θ increases horizontally to the right and vertically upward can be appropriately accelerated to make the target object move in the correct direction faster;

[0118] The parametric equation provides a quantitative and precise way to plan the motion path of the target object, making the path planning of the target object more accurate and operable.

[0119] Determine whether the motion trajectory approaching the target position meets expectations; it should be noted that whether it meets expectations is determined by observing whether the moving trajectory of the target object meets expectations.

[0120] The target object is adjusted to move to the target position according to the actual situation; it should be noted that after moving to the expected range, the target object can slowly enter the target position through fine regulation.

[0121] As an optional embodiment: the specific steps of determining the radius R by determining the direction and degree of the deviation and combining the actual space situation are:

[0122] A deviation threshold is set in advance; it should be noted that before starting the operation, a deviation threshold needs to be set so that different processing can be performed for the two situations later.

[0123] Compare the obtained deviation value with the deviation threshold;

[0124] If it is less than or equal to the deviation threshold; it should be noted that when the radius is determined based on the deviation size and the actual space situation, it means that the selection of radius R should comprehensively consider the degree of deviation between the current system and the correct state. If the deviation is small, choosing a relatively small radius R can make the system adjust back to the correct track more quickly. This is because a smaller radius R means a relatively smaller adjustment range, which can be fine-tuned more accurately.

[0125] Get the horizontal deviation D x , vertical deviation D y ; It should be noted that the horizontal deviation D x , vertical deviation D can be measured by laser rangefinder and total station, so no further explanation will be given.

[0126] By formula Get the comprehensive deviation value; it should be noted that the horizontal deviation D x , vertical deviation D y When considering them together, it can more comprehensively reflect the deviation of the system from the target state.

[0127] For example, in a two-dimensional motion control scenario, the calculation method of this comprehensive deviation d is based on the Pythagorean theorem. Just as the deviation between the actual position of an object on a plane and the target position is determined by the deviation in both the horizontal and vertical directions, this expression can give an overall deviation degree measure.

[0128] The radius is obtained by r=Q1d, where Q1 is an adjustment coefficient less than 1; it should be noted that the specific value of the adjustment coefficient Q1 can be obtained based on experience or experiments. For example, if it is known through experience that when Q1=0.5, the system can quickly adjust back to the correct track when the deviation is small, then the current value can be selected;

[0129] The radius R is set according to the size of the deviation, so that the adjustment is adaptive. When the deviation is small, since the value of the comprehensive deviation d is small, the radius R obtained by multiplying by the coefficient Q1 less than 1 is also small;

[0130] In this case, a smaller radius R can achieve small adjustments, just like fine-tuning, which can quickly and accurately guide the system back to the correct track, helping to avoid system instability or deviation from the target caused by over-adjustment;

[0131] If the deviation is large, then The value of is large, but due to the existence of Q1, the radius R will not be too large to cause over-adjustment; for example, when the deviation is large, if there is no restriction on Q1, directly adjusting the radius R according to the comprehensive deviation d without a coefficient may make the adjustment action too large, exceed the target state or cause system instability.

[0132] Get the distance S between the target object and the nearest obstacle around it min, ; It can be obtained based on a distance measuring instrument, etc.

[0133] Ensure r ≦ S min -△S, △S is the safety distance margin;

[0134] It should be noted that in the process of determining the radius R, the actual space situation must also be taken into account to prevent the target object from colliding with surrounding obstacles during the adjustment process. The size of the safety distance margin can be determined according to the specific situation, and is usually a smaller value to ensure that there is enough safety space during the adjustment process;

[0135] For example, if the measured distance from the target object to the nearest obstacle is 10 meters, and the safety distance margin is set to 1 meter, if the radius R is to be determined, then the value of R must satisfy R+1≤10, so that the appropriate radius can be selected for adjustment while ensuring that the target object will not collide with surrounding obstacles during adjustment.

[0136] As an optional embodiment: the specific steps of determining whether the motion trajectory approaching the target position meets expectations are:

[0137] By formula The distance between the current position of the target object and the target position is calculated in real time; it should be noted that as the target object moves along a predetermined arc, the position of the target object will continue to change, and the distance d0 between the two will be continuously calculated using the above formula.

[0138] Set a threshold d in advance th , d0 and threshold d th For comparison, if it is less than the threshold d th , then enter the target position adjustment phase;

[0139] It should be noted that the threshold d this a preset value, which indicates that the target object needs to enter a specific adjustment stage when it is close enough to the target position. th The setting is usually determined according to specific production requirements and equipment accuracy.

[0140] For example, assuming that the preset threshold d th When the distance between the current position of the target object and the target position calculated in real time is less than 5 meters, the system will consider that the target object is close to the target position and enter the target position adjustment stage. At this stage, more sophisticated control strategies may be adopted, such as reducing the moving speed, adjusting the accuracy of the moving direction, etc., to ensure that the target object can accurately reach the target position.

[0141] If the currently calculated distance is 4 meters, which is less than the preset threshold of 4 meters, the system will start the control program of the approach target position adjustment phase.

[0142] If it is greater than the threshold d th , the motion trajectory does not meet expectations and requires manual intervention.

[0143] It should be noted that if the expected results are still not achieved after a certain period of adjustment, it may be necessary to make adjustments again or directly intervene manually to ensure that the problem is discovered in time.

[0144] As an optional embodiment: the specific steps of adjusting the target object to move to the target position according to the actual situation are:

[0145] Reduce the rate of change of the parameters so that the target object slowly approaches the target position; it should be noted that by reducing the rate of change of the parameters, such as controlling a certain variable of the target object, speed, acceleration and power, the final positioning adjustment is made more precise, which helps the target object to accurately reach the target position.

[0146] The value of d0 is obtained in real time until the target object reaches the accurate position. It should be noted that by continuously obtaining the value of d0, it is helpful to monitor the current movement in real time and intervene in time when problems are found.

[0147] As an optional embodiment: the obtained deviation value is compared with the deviation threshold, and if it is less than the deviation threshold, the following steps are included:

[0148] A new adjustment coefficient value Q2 is set in advance, where Q2 is less than Q1. It should be noted that in actual application, if the speed is adjusted directly according to the adjustment coefficient Q1, the molten steel may shake violently due to excessive speed changes. Therefore, a new adjustment coefficient value Q2 is set first for preliminary adjustment so that the deviation of the target object can be alleviated to a certain extent.

[0149] The deviation degree of the target object is alleviated to within a predetermined range under the new adjustment coefficient Q2; it should be noted that, under the new adjustment coefficient Q2, this coefficient is determined by taking into account the maximum allowable speed change rate of molten steel sloshing.

[0150] A new adjustment coefficient value Q3 is set again, wherein Q3 is greater than Q2; gradually increasing the coefficient value helps in graded adjustment, thereby helping to correct the deviation, and thus helps to prevent molten steel from shaking.

[0151] Further adjust the target object according to the new adjustment coefficient Q3;

[0152] It should be noted that after the deviation is alleviated to a certain extent under the new adjustment coefficient Q2, the target object is gradually corrected to the correct position according to another adjustment coefficient Q3 based on the new deviation.

[0153] Moreover, during this process, the position of the target object and the stability of the molten steel need to be continuously monitored.

[0154] As an optional embodiment: the obtained deviation value is compared with the deviation threshold, and if it is less than the deviation threshold, the following steps are further included:

[0155] The current actual landing point coordinates (X0, Y0) of the target object are used as the center of the circle, and the radius of the first arc is determined according to the deviation and the surrounding space. It should be noted that if the deviation is large, a single arc may not be able to quickly guide the ladle to the target position while ensuring the stability of the molten steel. In this case, multiple arcs can be planned, and the first arc is planned with the current position coordinates.

[0156] Use parametric equations to guide the target object to move in the direction of the target position;

[0157] It should be noted that the above parameter equation is used to guide the target object to move in the general direction of the target position, and the direction is not strictly specified here.

[0158] After the target object moves to the end point of the first planned path, a second arc is planned and a new center is determined according to the current new position and the remaining deviation until the target object moves to the target position; it should be noted that when the target object moves to a certain position along the first arc, a second arc is planned according to the new position and the remaining deviation, and a new center (which may be the end point of the first arc or a point determined according to the new situation) and a radius R2 are determined, and the movement of the target object is continued to be guided by similar parametric equations, and so on, until it moves to the target position. By adjusting the original straight-line motion path to a slightly curved path, it helps to correct the deviation and ultimately reach the target position accurately.

[0159] As an optional embodiment: the obtained deviation value is compared with the deviation threshold, and if it is less than the deviation threshold, the following steps are further included:

[0160] Set a transition point greater than or equal to 1 between the current actual landing point position and the target position;

[0161] It should be noted that in the process of path planning, transition points can be set between the current position and the target position, and these transition points can be reasonably determined according to the direction and size of the deviation;

[0162] First, a path from the current position to the transition point is planned (which can be an arc, a broken line or other suitable path), and then a path from the transition point to the target position is planned.

[0163] After the target object reaches the transition point, the route is replanned to the target position; in this way, the correction of large deviations is decomposed into a correction process of multiple small deviations, which is conducive to making the movement of the target object smoother and more controllable.

[0164] How it works

[0165] After the deviation of the target object is found, the stability of the center of gravity of the target object is ensured by adjusting the different left and right speeds, which helps to reduce the situation where the center of gravity of the target object deviates too much when changing the direction of movement, thereby affecting the stability of the molten steel.

[0166] The above are only preferred implementations of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technical staff in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of this template.

Claims

1. An automatic control system for a refining turntable based on laser ranging, characterized in that: include: A data acquisition module is used to collect the target position and current actual landing position of the target object; A data analysis unit is used to analyze and judge the current actual landing point position collected by the data collection module to confirm whether the actual landing point position of the target object meets expectations; A feedback adjustment unit, for adjusting and compensating the motion parameters of the turntable when the actual landing point of the target object does not meet expectations, and generating adjustment parameter information; The execution unit drives the turntable according to the adjustment parameter information when receiving the adjustment parameter information of the feedback adjustment unit, and drives the turntable according to the adjustment parameter of the original state if the adjustment parameter information of the feedback adjustment unit is not received.

2. According to the laser ranging based automatic control system for refining turntable according to claim 1, it is characterized in that: The specific working mode of the feedback adjustment unit is as follows: Obtain the position deviation d of the target object; Get the left speed v of the turntable l , right side speed of the turntable v r ; When d<0, that is, the target position is forward and to the left, the formula v r =v0+k|d| to get the new right side speed; By formula v l =v0-k|d| / 2 to get the new left speed; Among them, k is the adjustment coefficient, and v0 is the speed on both sides of the turntable that is equal under normal circumstances.

3. According to claim 2, a laser ranging based refining turntable automatic control system is characterized in that: The determination of the adjustment coefficient k comprises the following steps: Obtain the length L, width W, height H, and weight M of the target object; By formula Get a coefficient with the length L, width W, height H, and weight M of the target object; Obtain the flow coefficient C2 of molten steel and the height coefficient of molten steel level h is the liquid level of molten steel; By formula Where k0 is the initial basic adjustment coefficient.

4. The automatic control system of the refining turntable based on laser ranging according to claim 3 is characterized in that: The feedback adjustment unit also includes path replanning, specifically: Get the actual landing point coordinates (X0, Y0) of the target object; Get the target position coordinates (Xt, Yt) of the target object; Compare the current target actual landing point position with the target position, determine the direction and degree of deviation and determine the radius R based on the actual space situation; Draw an arc with the actual landing point coordinates (X0, Y0) of the current target object as the center of the circle; Establish parametric equations for points on the arc; Control the target object to move along the drawn arc trajectory; Determine whether the motion trajectory approaching the target position meets expectations; Adjust the target object to move to the target position according to the actual situation.

5. The automatic control system of the refining turntable based on laser ranging according to claim 4 is characterized in that: The specific steps of determining the radius R by determining the direction and degree of the deviation and combining it with the actual space situation are: Set a deviation threshold in advance; Compare the obtained deviation value with the deviation threshold; If it is less than or equal to the deviation threshold; Get the horizontal deviation D x , vertical deviation D y ; By formula Get the comprehensive deviation value; The radius is obtained by r = Q1d, where Q1 is an adjustment factor less than 1; Get the distance Smin between the target object and the nearest obstacle around it; Ensure r≦Smin-△S, where △S is the safety distance margin.

6. The automatic control system of the refining turntable based on laser ranging according to claim 4 is characterized in that: The specific steps of determining whether the motion trajectory approaching the target position meets expectations are as follows: By formula The distance between the current position of the target object and the target position is calculated in real time; A threshold dth is set in advance, and d0 is compared with the threshold dth. If it is less than the threshold dth, the approaching target position adjustment stage is entered; If it is greater than the threshold dth, the motion trajectory does not meet expectations and requires manual intervention.

7. The automatic control system of the refining turntable based on laser ranging according to claim 4 is characterized in that: The specific steps of adjusting the target object to move to the target position according to the actual situation are: Reduce the rate of change of parameters so that the target object slowly approaches the target position; The value of d0 is obtained in real time until the target object reaches the accurate position.

8. The automatic control system of the refining turntable based on laser ranging according to claim 5 is characterized in that: The obtained deviation value is compared with the deviation threshold, and if it is less than the deviation threshold, the following steps are included: A new adjustment coefficient value Q2 is preset, wherein Q2 is smaller than Q1; Obtaining that the deviation degree of the target object is alleviated to a predetermined range under the new adjustment coefficient Q2; A new adjustment coefficient value Q3 is set again, wherein Q3 is greater than Q2; The target object is further adjusted according to the new adjustment coefficient Q3.

9. The automatic control system of the refining turntable based on laser ranging according to claim 5 is characterized in that: The obtained deviation value is compared with the deviation threshold, and if it is less than the deviation threshold, the following steps are further included: The current actual landing point coordinates (X0, Y0) of the target object are used as the center of the circle, and the radius of the first arc is determined according to the deviation size and the surrounding space conditions; Use parametric equations to guide the target object to move in the direction of the target position; After the target object moves to the end point of the first planned path, the second arc is planned according to the current new position and the remaining deviation and the new center of the circle is determined until the target object moves to the target position.

10. The automatic control system of the refining turntable based on laser ranging according to claim 5, characterized in that: The obtained deviation value is compared with the deviation threshold, and if it is less than the deviation threshold, the following steps are further included: Set a transition point greater than or equal to 1 between the current actual landing point position and the target position; After the target object reaches the transition point, the route is replanned to the target location.

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