An automatic control system for refining turntable based on laser ranging

Abstract

The present invention discloses an automatic control system for a refining turntable based on laser ranging, which relates to the technical field of refining turntable control, and comprises: a data acquisition module, which is used to acquire the target position and the current actual landing position of a target object; a data analysis unit, which is used to analyze and judge the current actual landing position acquired by the data acquisition module to confirm whether the actual landing position of the target object meets expectations; a feedback adjustment unit, which is used to adjust and compensate the motion parameters of the turntable when the actual landing position of the target object does not meet expectations, and to generate adjustment parameter information; after determining that the landing position of the target object deviates, new adjustment parameters are generated according to the collected relevant data to control the turntable, thereby facilitating the correction of the deviation of the target object and returning it to the accurate position, thereby helping to prevent the occurrence of molten steel overflow caused by docking errors due to the deviation of the landing position.

Description

Technical Field

[0001] The present invention relates to the technical field of refining turntable control, and more particularly 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 accurately transfer the ladle. The automatic control system based on laser ranging can precisely 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 from the ladle into the refining furnace, the system can ensure accurate injection of the 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. Summary of the Invention

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

[0005] The present invention provides a laser ranging based automatic control system for a refining turntable, 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 position collected by the data acquisition module to confirm whether the actual landing position of the target object meets the expectation;

[0008] A feedback adjustment unit, configured to adjust and compensate the motion parameters of the turntable when the actual landing position of the target object does not meet expectations, and to generate 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 feedback adjustment unit operates in the following manner:

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

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

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

[0015] Where k is the adjustment coefficient and v0 is the speed at both sides of the turntable being 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 related to 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 molten steel level height coefficient 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's actual landing point position with the target position to 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 and move it 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 coefficient 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 , compare d0 with the threshold d th Compare, if it is less than the threshold d th , then enter the target position adjustment stage;

[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 actual conditions 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 correct 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 target object's current actual landing point coordinates (X0, Y0) are used as the center of the circle, and the radius of the first arc is determined based on the deviation and the surrounding space.

[0053] Use parametric equations to guide the target object to move toward the target location;

[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 point 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 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 the different left and right speeds. This helps to reduce the situation where the center of gravity of the target object shifts too much when changing the direction of movement, thereby affecting the stability of the molten steel.

[0059] Moreover, different speed adjustments 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 refining process requirements for molten steel stability. 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 a ladle into a refining furnace, the system ensures accurate injection of the molten steel, avoids overflow or incomplete injection, and improves refining efficiency and quality. However, in actual application scenarios, the ladle may experience slight shaking during the lifting process, which can easily cause the ladle and other containers to land on the turntable in an unexpected position, possibly causing offset, which may lead to 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-determined position range where the target object falls on the turntable, and the current actual landing position refers to the current resting 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, an encoder can be installed on the rotating axis of a turntable. It encodes the rotation angle of the axis to obtain the current angular position of the turntable. At the same time, it is combined with other auxiliary sensors to determine the relative position of the target object with respect to the turntable.

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

[0066] A data analysis unit is used to analyze and determine the current actual landing position collected by the data acquisition module to confirm whether the actual landing position of the target object meets the expected one. 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 by the data acquisition module. By comparing the actual landing point with the target position, it can be determined whether the landing point of the target object is within the pre-determined staying range, and thus 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 position 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 position 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 from the feedback adjustment unit, and drives the turntable according to the adjustment parameter of the original state if the adjustment parameter information from 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, thereby facilitating the correction of the deviation of the target object and returning 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 should 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] Obtaining the position deviation d of the target object; 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 is running or on a turntable. The laser ranging sensor emits a laser beam at the target object and calculates the distance between the sensor and the target object by measuring the time it takes for the laser to travel back and forth. Multiple such sensors are installed at different locations on the track, and by comparing the distance difference of the target object relative to the preset correct position (determined by the sensor layout and initial calibration), the deviation d can be obtained.

[0075] Alternatively, the deviation d can be obtained using an encoder. If the target object is driven by a motor and moves on a track, an encoder can be installed on the motor shaft. The encoder can accurately measure the motor's rotation angle or number of revolutions. Based on the transmission relationship between the motor and the target object (for example, through a transmission device such as gears or chains), the encoder converts the motor's rotation information into the target object's linear displacement information. This information is then compared with the target object's correct position information to obtain the deviation d. In addition, many other existing technologies can be used to obtain this information, which will not be elaborated on in detail.

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

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

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

[0080] It should be explained that when the target object's forward position deviates to the left, in order to adjust the target object back to its normal position, it needs to move to the right. Therefore, this is achieved by increasing the speed on the right and reducing the speed on the left. d cannot be a negative value, so it is taken as 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 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] Where k is the adjustment coefficient, v0 is the speed of the turntable at both sides 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 shaking of the molten steel in the target object. Therefore, a maximum adjustment speed value v can be set in advance. max ;

[0089] So that 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, when d>0, the adjustment method is opposite to the above, and will not be elaborated on 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 left and right side speeds are adjusted differently to ensure the stability of the target object's center of gravity. This helps to reduce the occurrence of excessive shift of the target object's center of gravity when changing the direction of movement, thereby affecting the stability of the molten steel.

[0092] Moreover, different speed adjustments 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 refining process requirements for molten steel stability.

[0093] As an optional embodiment: the determination of the adjustment coefficient k includes 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 from pre-factory drawings, and can also be tested through laser measurement technology, measuring tools, and other methods.

[0095] By formula Obtain a coefficient that is related to the target object's length L, width W, height H, and weight M. It should be noted that by obtaining the target object's length L, width W, height H, and weight M to obtain the coefficient C1, combining the target object's size and weight information can make speed adjustment more accurate. Target objects of different sizes and weights have very different motion characteristics on the turntable.

[0096] For example, large and heavy targets require more careful speed adjustments due to their greater inertia. By introducing coefficients related to size and weight, speed adjustments can be customized based on the specific characteristics of the target, avoiding under- or over-adjustments.

[0097] Obtain the flow coefficient C2 of molten steel and the molten steel level height coefficient 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 fluid mechanics formulas, for example, the flow coefficient of the molten steel can be calculated based on 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 large, it indicates that the liquid level of molten steel in the target object is low and there is more free space inside the target object; conversely, when the ratio is small, 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 set to 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 the specific parameter values.

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

[0103] In actual application scenarios, the deviated 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 of moving 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 situation, replanning the optimal path for the target object from its current position to the target position so that the target object can return to the correct track in the shortest time and most stable manner is also a certain challenge. 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] Obtain the actual landing point coordinates (X0, Y0) of the target object. Note that the landing point coordinates can be obtained using a positioning system, such as GPS (Global Positioning System) or indoor positioning technology (such as Wi-Fi signal strength, Bluetooth positioning, or ultra-wideband positioning). If specific coordinate measurement equipment is available within the factory, the coordinates can also be obtained using the equipment's measurement data.

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

[0107] It's important to reiterate that for GPS, the reference point is the Earth's larger coordinate system. Typically, within a factory, this reference point might be a fixed corner of the building or a specially designated origin. The specific coordinates of the target object are then determined based on the relative position of the measuring instrument relative to this origin.

[0108] Compare the current target actual landing point position 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, after obtaining the current actual landing point position coordinates (X0, Y0), the target position coordinates (X0, Y0) are calculated relative to the preset target position coordinates (X0, Y0). 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] For example, if the target object is slightly offset to the left horizontally, an arc with a smaller radius R is drawn with the actual landing point coordinates (X0, Y0) as the center. Since the radius R is small, the arc is relatively curved, allowing the target object to change its direction within a shorter path, thus quickly correcting the horizontal offset.

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

[0112] Establish the parametric equations of the points on the arc; it should be noted that the parametric equations are 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 lies;

[0114] R is the determined radius;

[0115] θ is a parameter that 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 make the target object move along the arc. The speed and direction of the target object's movement are adjusted by controlling the rate of change of θ.

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

[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 movement trajectory of the target object meets expectations.

[0120] Adjust the target object 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 control.

[0121] As an optional embodiment, 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:

[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 the deviation is less than or equal to the deviation threshold, it should be noted that when determining the radius based on the deviation and actual spatial conditions, the selection of radius R must comprehensively consider the degree of deviation of the current system from the correct state. If the deviation is small, selecting a relatively small radius R can enable the system to adjust back to the correct track more quickly. This is because a smaller radius R means a relatively smaller adjustment, allowing for more precise fine-tuning.

[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 is needed.

[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 of the combined deviation d is based on the Pythagorean theorem. Just as the deviation between an object's actual position on a plane and its target position is determined by both horizontal and vertical deviations, this expression provides an overall measure of the degree of deviation.

[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, making the adjustment adaptive. When the deviation is small, the value of the comprehensive deviation d is small, and the radius R obtained by multiplying it by the coefficient Q1 less than 1 is also small;

[0130] In this case, a smaller radius R enables small adjustments, much like fine-tuning, which can quickly and accurately guide the system back on track, helping to avoid system instability or further 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 of Q1, directly adjusting the radius R according to the comprehensive deviation d without a coefficient may cause the adjustment action to be too large, exceeding the target state or causing 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 when determining the radius R, the actual space conditions 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 based on the specific situation and is usually a small value to ensure sufficient safety space during the adjustment process.

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

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

[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 the 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 , compare d0 with the threshold d th Compare, if it is less than the threshold d th , then enter the target position adjustment stage;

[0139] It should be noted that the threshold d thIt is a pre-set 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 the preset threshold d th 5 meters. When the distance between the target object's current position and the target position calculated in real time is less than 5 meters, the system will assume that the target object is close to the target position and enter the approach target position adjustment phase. In this phase, more sophisticated control strategies may be adopted, such as reducing movement speed and adjusting the accuracy of movement direction, 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, further adjustments or manual intervention may be required to ensure that problems are discovered in a timely manner.

[0144] As an optional embodiment, the specific steps of adjusting the target object to move to the target position according to actual conditions 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, such as 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 correct position. It should be noted that by continuously obtaining the value of d0, it is possible 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 smaller 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, it is preferred to set a new adjustment coefficient value Q2 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 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 facilitates graded adjustment, thereby facilitating correction of deviations, and thus helping to prevent molten steel 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 the deviation value is less than the deviation threshold, the following steps are further included:

[0155] The radius of the first arc is determined based on the target object's current actual landing point coordinates (X0, Y0) and the deviation and surrounding space. Note that if the deviation is large, a single arc may not be able to quickly guide the ladle to the target location while ensuring molten steel stability. In this case, multiple arcs can be planned, with the first arc planned based on the current location coordinates.

[0156] Use parametric equations to guide the target object to move toward the target location;

[0157] It should be noted that the above parametric equations are 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 point is determined based on the current new position and the remaining deviation until the target object moves to the target position. It should be noted that after the target object moves to a certain position along the first arc, a second arc is planned based on the new position and the remaining deviation, and a new center point (which may be the end point of the first arc or a point determined according to the new situation) and radius R2 are determined. The target object is continued to be guided to move through 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 the deviation value 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 position and the target position;

[0161] It should be noted that during the path planning process, transition points can be set between the current position and the target position. These transition points can be reasonably determined based on the direction and size of the deviation;

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

[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 multiple small deviation correction processes, which helps to make the movement of the target object smoother and more controllable.

[0164] How it works

[0165] After the target object is found to have deviated, the center of gravity of the target object is ensured to be stable by adjusting the different left and right side speeds. This helps to reduce the situation where the center of gravity of the target object deviates too much when the direction of movement is changed, thereby affecting the stability of the molten steel.

[0166] The above are only preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions that fall within the scope of protection of the present invention are within the scope of protection of the present invention. It should be pointed out that for ordinary technical personnel in this technical field, certain improvements and modifications that do not depart from the principles of the present invention should also be considered as the scope of protection of this template.

Claims

1. A laser ranging based automatic control system for a refining turntable, 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 position collected by the data acquisition module to confirm whether the actual landing position of the target object meets the expectation; A feedback adjustment unit, configured to adjust and compensate the motion parameters of the turntable when the actual landing position of the target object does not meet expectations, and to generate adjustment parameter information; an execution unit, which drives the turntable according to the adjustment parameter information when receiving the adjustment parameter information from the feedback adjustment unit, and drives the turntable according to the adjustment parameter of the original state if the adjustment parameter information from the feedback adjustment unit is not received; 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 of the turntable , right side speed of turntable ; When d<0, that is, the target position is forward and to the left, the formula Get the new right side speed; By formula Get the new left speed; in, is the adjustment coefficient, Under normal circumstances, the speed on both sides of the turntable is equal; 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 related to the length L, width W, height H, and weight M of the target object; Obtain the flow coefficient of molten steel , molten steel level height coefficient , h is the liquid level height of molten steel; By formula ,in is the initial basic adjustment coefficient.

2. The automatic control system for a refining turntable based on laser ranging according to claim 1, 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's actual landing point position with the target position to 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 and move it to the target position according to the actual situation.

3. The automatic control system for a refining turntable based on laser ranging according to claim 2, characterized in that: The specific steps to determine the radius R by determining the direction and degree of deviation and combining it with the actual space conditions are as follows: 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 , vertical deviation ; By formula Get the comprehensive deviation value; pass Get the radius, where Q1 is an adjustment coefficient less than 1; Get the distance Smin between the target object and the nearest obstacle. make sure ≦Smin-△S, △S is the safety distance margin.

4. The automatic control system for a refining turntable based on laser ranging according to claim 2, 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. Compare with the threshold dth. If it is less than the threshold dth, enter the target position adjustment stage; If it is greater than the threshold dth, the motion trajectory does not meet expectations and requires manual intervention.

5. The automatic control system for a refining turntable based on laser ranging according to claim 2, 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; Real-time acquisition until the target object reaches the correct position.

6. The automatic control system for a refining turntable based on laser ranging according to claim 3, 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 set in advance, where Q2 is less than ; 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.

7. The automatic control system for a 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: The target object's current actual landing point coordinates (X0, Y0) are used as the center of the circle, and the radius of the first arc is determined based on the deviation and the surrounding space. Use parametric equations to guide the target object to move toward the target location; 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 point is determined until the target object moves to the target position.

8. The automatic control system for a refining turntable based on laser ranging according to claim 3 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: Set a transition point greater than or equal to 1 between the current actual landing 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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