Converter automatic feeding method based on precise positioning

Abstract

The invention discloses an automatic converter feeding method based on precise positioning. The method at least comprises the following steps: reading video recognition device information, speed information and current position information of the unloading trolley in real time; calculating the speed and direction of the trolley according to the difference between the current bin position and the target position; and the speed of the unloading trolley is controlled to change from high speed to normal speed to low speed to zero speed, and when the deviation between the target position and the actual position is within a preset range, the speed of the trolley is reduced to zero. According to the automatic feeding device, the feeding efficiency is greatly improved, field personnel are reduced after the automation process is implemented, and safety accidents are reduced.

Description

Technical Field

[0001] The invention relates to a converter automatic feeding method based on precise positioning. Background Art

[0002] The converter feeding system is a prerequisite for converter production. So far, the feeding operation of the converter is mainly manual. Before the feeding process starts, the on-site personnel first move the unloading trolley to the required feeding bin position, and open the flap machine, and then open all the belt conveyors. After all the belt conveyors are running, open the vibrating feeder on the underground silo, vibrate the required raw materials onto the belt, and each belt conveyor is connected through layers, and finally the raw materials are transported to the feeding bin, and then open the vibrating feeder of the feeding bin to complete the feeding. The whole process is very cumbersome and requires close cooperation between the operator and the on-site personnel to complete. It not only consumes manpower, but also has loud noise and dust at the feeding site, which has a great impact on the health of the on-site personnel and the communication between them. The feeding efficiency still needs to be improved. Summary of the invention

[0003] In order to overcome the above-mentioned defects, the object of the present invention is to provide a method for automatic feeding of a converter based on precise positioning.

[0004] To achieve the above object, the method for automatic converter feeding based on precise positioning of the present invention comprises:

[0005] Read the video recognition device information, speed information, and current position information of the unloading trolley in real time;

[0006] The speed and direction of the vehicle are calculated based on the difference between the current silo position and the target position;

[0007] The speed of the unloading trolley is controlled from high speed-normal speed-low speed-zero speed. When the deviation between the target position and the actual position is within the predetermined range, the trolley is reduced to zero speed.

[0008] Furthermore, the video recognition device is installed above the silo, belt and trolley area to identify the type of material, trolley position and on-site safety behavior, and to locate the unloading trolley.

[0009] Furthermore, the current position information of the unloading trolley is obtained by positioning the unloading trolley using Gray busbar technology.

[0010] Furthermore, the following steps are included: comparing the position information given by the Gray bus, the trolley position identified by the video recognition device and the dynamically calculated position information. If the error among the three is greater than a predetermined value, an alarm is immediately sounded and the trolley is stopped, and the vibrating feeder is shut down at the same time to reduce safety accidents.

[0011] Furthermore, the unloading trolley is driven by a trolley variable frequency motor, and the trolley inverter control instructions drive the trolley variable frequency motor; the trolley inverter dynamically adjusts the trolley speed and moving direction according to the position between the silos.

[0012] Furthermore, the method further comprises the following steps before loading:

[0013] Step 1: Number the underground silos and the platform silos from 1 to N, and use the video recognition device to identify the material type of each silo;

[0014] Step 2: Clearly mark the starting point O and end point P of the unloading trolley area to facilitate labeling, and use deep learning technology to process the data set to achieve secondary system positioning of the trolley position;

[0015] Step 3: PLC reads the Gray bus position parameters through network communication to complete the first-level system positioning of the trolley;

[0016] Step 4: With the underground silo as the starting point and the upper silo as the end point, define the belt numbers as F1, F2, .. Fc;

[0017] Step 5: Configure the material loading list S and the corresponding schedule T according to steelmaking requirements 1-n ;

[0018] Step 6: Read the current time t, the material list S, and the current material weight W of each silo 1-m ;

[0019] Step 7: When time t and T 1-n When they are equal, start the automatic feeding program;

[0020] Furthermore, the method further comprises:

[0021] Step 8: According to the on-site safety requirements, the unloading trolley will ring a bell to remind on-site personnel to evacuate before moving, and will be detected simultaneously through video recognition. If it is detected that there are people on the scene, the trolley will be started at a delayed time and a warning sound will be issued to remind the personnel to leave the scene. When the site meets the safety conditions, it will move to the required silo position;

[0022] Furthermore, the method further comprises:

[0023] Step 9: Before starting the belt conveyor, use video recognition technology to detect whether there are people on site. If there are, start it in the order of Fc-F1 when the site meets the safety conditions;

[0024] Step 10: After the belt is started, use video recognition technology to identify the material type in the underground silo and confirm the silo where the current material type is stored. After confirmation, open the vibrating feeder of the underground silo to start unloading;

[0025] Step 11: Assume that the parameter factor before the material falls on the belt is recorded as α, the vibration time of the feeder Tz, the height of the discharge port from the belt conveyor H, and the weight of the material W 1-m , calculate the material feeding speed and the weight W of the material falling onto the belt conveyor 1-m(p) ;

[0026] Step 12: Assume that the current length of the auxiliary belt is LL 1-C The rotating speed of the belt conveyor roller is δ and the radius is r. The dynamic running speed of the belt conveyor and the time required for the material to reach the current loading bin are calculated based on the weight.

[0027] Step 13: When multiple non-adjacent loading silos need the same auxiliary material at the same time, assuming that in the same batch, each silo needs the same material weight W 1-N , and the distance between the silos is LL 1-N , calculate the time TS required for the material type in the silo to meet the requirements 1-N ;

[0028] Step 14: Assume that the high speed of the variable frequency vehicle is V H , normal speed is V N , low speed is V L , the distance between the silos where the unloading trolley moves is defined as L Max ,L Nor ,L Min , when the distance exceeds L Max When the car needs to send a high-speed operation instruction to the PLC control unit, that is, V H , when the distance is L Nor -L Max When the car needs to send a normal operation instruction to the PLC control unit, that is, V N , when the distance is less than L M i n or L M i n -L Nor In the meantime, the car needs to send a low-speed operation instruction to the PLC control unit.

[0029] Furthermore, the method further comprises:

[0030] Step 15: Calculate the interval time TJ required for the unloading trolley to move to the loading bin according to step 13 1-N , and calculate the car position information according to the interval time;

[0031] Step 16: There is a parameter factor β in the interval time, combined with the belt conveyor running speed V C 、Current weight of feeding bin W 1-N And the current belt conveyor material weight W 1-m(p)It is concluded that the lower bin vibrating feeder is automatically shut down within the interval range and under the action of parameter factors:

[0032] 161) When the belt conveyor material weight W 1-m(p) and the current weight W of the loading bin 1-N When the sum is equal to the required weight of the silo, turn off the underground silo vibrating feeder and wait for the next vibration;

[0033] 162) When the underground silo vibrating feeder is turned off, start timing. When the time is equal to T C When the current feeding bin vibrating feeder is turned off, the unloading trolley is moved at the same time;

[0034] 163) When the unloading trolley moves, the timing T starts. Due to the change of the warehouse position, the length of the auxiliary belt occupied will inevitably change, resulting in a change in the time required for the material to reach the new loading silo. The calculation formula refers to step 10. Assume that T C1 ,

[0035] (1) When TJ 1-N and T C1 When they are equal: open the underground silo and the upper silo vibrating feeder at the same time;

[0036] (2) When TJ 1-N and T C1 Unequal time: perform difference calculation on the two and make absolute value processing. When the timing time T and the difference are equal, open the underground silo and the upper silo vibrating feeder.

[0037] The present invention reads the information of the video recognition device, speed information, the current position information of the unloading trolley, etc., calculates the difference between the current silo position and the target position to obtain the speed and direction of the trolley, and sends a control command to the frequency converter to control the speed from high speed-normal speed-low speed-zero speed, so as to achieve precise control of the trolley, including forward, backward, high speed, normal speed, low speed, etc. The feeding efficiency is greatly improved, and the implementation of the automation process reduces the number of on-site personnel and reduces the occurrence of safety accidents. At the same time, the automation realizes precise protection for each equipment related to feeding, improves the service life of the equipment, and when the PLC module fails, the system directly stops the equipment to avoid major production accidents. The precise positioning of the unloading trolley in the automatic feeding process of the converter is realized, which saves manpower and greatly improves the feeding efficiency, providing the prerequisite for "one-key steelmaking". BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a system structure diagram of the present invention.

[0039] Figure 2 This is a block diagram of the Gray bus circuit in the present invention.

[0040] Figure 3 It is a flow chart of the present invention. DETAILED DESCRIPTION

[0041] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0042] In the description of the present invention, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0043] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0044] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] Embodiment 1:

[0046] Figure 1 This is a schematic diagram of this example. This example includes a PLC control unit, a weighing device, a video recognition device, a speed encoder, a discharge trolley inverter, a vibrating feeder inverter, a belt motor, and a trolley positioning device.

[0047] Among them, the PLC control unit reads the video recognition device information, speed information, current position information of the unloading trolley, etc., calculates the speed and direction of the trolley based on the difference between the current silo position and the target position, and sends a control command to the frequency converter to control the speed from high speed-normal speed-low speed-zero speed. When the deviation between the target position and the actual position is within the required range, the trolley is reduced to zero speed.

[0048] The trolley inverter receives control instructions to drive the trolley variable frequency motor to move, including forward, backward, high speed, normal speed, low speed, etc. The unloading trolley inverter dynamically adjusts the trolley speed and moving direction according to the position between the silos.

[0049] The speed encoder uses an incremental encoder and is installed on the unloading trolley. It is responsible for monitoring the real-time speed of the trolley and feeding back the code value to the PLC control unit. It also compares the speed given by the inverter with the calculated actual speed. If the error between the two is too large, an alarm will be issued immediately and the trolley will be stopped to reduce possible safety accidents caused by encoder failure.

[0050] The trolley positioning device adopts Gray bus technology for positioning. The equipment is installed on the unloading trolley. During the one-key loading process, the position information given by the Gray bus, the trolley position identified by the video recognition device and the dynamically calculated position information are compared. If the error between the three is too large, an alarm will be issued immediately and the trolley will be stopped. At the same time, the vibrating feeder will be shut down to reduce safety accidents.

[0051] The video recognition device is installed above the silo, belt and trolley area. It is responsible for identifying the material type, trolley position and on-site safety behavior. It can dynamically identify the real-time position of the trolley, and form a safety guarantee with the position information obtained by the PLC level 1, to achieve accurate positioning of the unloading trolley.

[0052] The PLC control unit is Siemens CPU 1518-8PN / DP; the unloading trolley frequency converter adopts Siemens SINAMICSS120; the speed encoder is Pepperl+Fuchs ENI58IL series incremental encoder; the trolley positioning device adopts Gray bus positioning device and adopts PN communication; the video recognition device is trained with deep learning algorithm and adopts TCP / IP standard communication protocol and first-level communication.

[0053] The PLC control unit communicates with the unloading trolley inverter through the PN communication line; connects with the speed encoder through optical fiber, reads the real-time code value of the speed encoder through the profinet communication protocol; and is connected to the IO module through a hard line.

[0054] There are two trolley frequency converters in total, which are selected according to the motor power, control requirements and the length of the motor's power cable. They are installed in the low-voltage cabinet in the low-voltage distribution room and are connected to the on-site frequency conversion motors through power cables.

[0055] The selection is determined by process personnel and is used in the alloy workshop and auxiliary workshop respectively.

[0056] The speed encoder is installed on the unloading trolley and rotates synchronously with the motor. It is connected to the encoder module of the inverter through a multi-core shielded twisted pair cable to provide real-time feedback on the motor's speed.

[0057] Example 2

[0058] Figure 2 The control method of the present invention is shown below. Taking the auxiliary workshop loading as an example, the specific steps are as follows:

[0059] Step 1: Number the underground silos and the platform silos 1-N respectively, and use the video recognition device to identify the material type of each silo.

[0060] Step 2: Clearly mark the starting point O and end point P of the unloading trolley area to facilitate labeling, and use deep learning technology to process the data set to achieve secondary system positioning of the trolley position.

[0061] Step 3: PLC reads the Gray bus position parameters through network communication to complete the primary system positioning of the trolley.

[0062] Step 4: Take the underground silo as the starting point and the loading silo as the end point, and define the belt numbers as F1, F2, .. Fc.

[0063] Step 5: Configure the material loading list S and the corresponding schedule T according to steelmaking requirements 1-n .

[0064] Step 6: Read the current time t, the material list S, and the current material weight W of each silo 1-m .

[0065] Step 7: When time t and T 1-n When they are equal, start the automatic loading program.

[0066] Step 8: According to the on-site safety requirements, the unloading trolley will ring a bell for 10 seconds before moving to remind on-site personnel to evacuate, and will be detected synchronously through video recognition within 10 seconds. If it is detected that there are people on the scene, the trolley will be started with a delay and a prompt sound will be issued to remind the personnel to stay away from the scene. When the site meets the safety conditions, it will move to the required silo location.

[0067] Step 9: Before starting the belt conveyor, use video recognition technology to detect whether there are people on the scene. If so, wait until the scene meets the safety conditions and start in the order of Fc-F1.

[0068] Step 10: After the belt is started, use video recognition technology to identify the material type in the underground silo and confirm the silo where the current material type is stored. After confirmation, open the vibrating feeder of the underground silo to start unloading.

[0069] Step 11: Assume that the parameter factor before the material falls on the belt is recorded as α, the vibration time of the feeder Tz, the height of the discharge port from the belt conveyor H, and the weight of the material W 1-m , calculate the material feeding speed and the weight W of the material falling onto the belt conveyor 1-m(p) .

[0070] Step 12: Assume that the current length of the auxiliary belt is LL 1-C The rotating roller speed of the belt conveyor is δ and the radius is r. The dynamic running speed of the belt conveyor and the time required for the material to reach the current loading bin are calculated based on the weight.

[0071] Step 13: When multiple non-adjacent loading silos need the same auxiliary material at the same time, assuming that in the same batch, each silo needs the same material weight W 1-N , and the distance between the silos is LL 1-N , calculate the time TS required for the material type in the silo to meet the requirements 1-N .

[0072] Step 14: Assume that the high speed of the variable frequency vehicle is V H , normal speed is V N , low speed is V L , the distance between the silos where the unloading trolley moves is defined as L Max ,L Nor ,L Min , when the distance exceeds L Max When the car needs to send a high-speed operation instruction to the PLC control unit, that is, V H , when the distance is L Nor -L Max When the car needs to send a normal operation instruction to the PLC control unit, that is, V N , when the distance is less than L Min or L M i n -L Nor In the meantime, the car needs to send a low-speed operation instruction to the PLC control unit.

[0073] Step 15: Calculate the interval time TJ required for the unloading trolley to move to the loading bin according to step 13 1-N , and calculate the car position information based on the interval time.

[0074] Step 16: There is a parameter factor β in the interval time, combined with the belt conveyor running speed V C 、Current weight of feeding bin W 1-N And the current belt conveyor material weight W 1-m(p) It is concluded that the lower bin vibrating feeder is automatically shut down within the interval range and under the action of parameter factors:

[0075] 1. When the belt conveyor material weight W 1-m(p) and the current weight W of the loading bin 1-N When the sum is equal to the required weight of the silo, turn off the underground silo vibrating feeder and wait for the next vibration.

[0076] 2. When the underground silo vibrating feeder is turned off, start timing. When the time is equal to T C When the vibration feeder of the current loading bin is turned off, the unloading trolley is moved at the same time.

[0077] 3. When the unloading trolley moves, start timing T. Due to the change in the warehouse position, the length of the auxiliary belt occupied will inevitably change, resulting in a change in the time required for the material to reach the new loading silo. The calculation formula refers to step 10. Assume that T C1 ,

[0078] (3) When TJ 1-N and T C1 When equal: open the underground silo and the upper silo vibrating feeder at the same time.

[0079] When TJ 1-N and T C1 Unequal time: perform difference calculation on the two and make absolute value processing. When the timing time T and the difference are equal, open the underground silo and the upper silo vibrating feeder.

[0080] The present invention is described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of ordinary technicians in the field without departing from the purpose of the present invention. Many other changes and modifications that do not depart from the concept and scope of the present invention should be regarded as the protection scope of the present invention.

[0081] In the description of this specification, specific features, structures, materials or characteristics may be combined in an appropriate manner in any one or more embodiments or examples.

[0082] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for automatic feeding of a converter based on precise positioning, characterized in that: The method at least comprises: Read the video recognition device information, speed information, and current position information of the unloading trolley in real time; The speed and direction of the vehicle are calculated based on the difference between the current silo position and the target position; The speed of the unloading trolley is controlled from high speed-normal speed-low speed-zero speed. When the deviation between the target position and the actual position is within the predetermined range, the trolley is reduced to zero speed.

2. The method for automatic converter loading based on precise positioning according to claim 1, characterized in that: The video recognition device is installed above the silo, belt and trolley area, and is used to identify the material type, trolley position and on-site safety behavior, and to locate the unloading trolley.

3. The method for automatic converter loading based on precise positioning according to claim 1, characterized in that: The current position information of the unloading trolley is obtained by using Gray bus technology to locate the unloading trolley.

4. The method for automatic converter loading based on precise positioning according to claim 3, characterized in that: The method also includes the following steps: comparing the position information given by the Gray bus, the trolley position identified by the video recognition device and the dynamically calculated position information. If the error between the three is greater than a predetermined value, an alarm is immediately sounded and the trolley is stopped, and the vibrating feeder is shut down to reduce safety accidents.

5. The method for automatic converter loading based on precise positioning according to claim 1, characterized in that: The unloading trolley is driven by a trolley variable frequency motor, and the trolley inverter control instruction drives the trolley variable frequency motor; the trolley inverter dynamically adjusts the trolley speed and moving direction according to the position between the silos.

6. The method for automatic converter loading based on precise positioning according to claim 1, characterized in that: The method further comprises the following steps before loading: Step 1: Number the underground silos and the platform silos from 1 to N, and use the video recognition device to identify the material type of each silo; Step 2: Clearly mark the starting point O and end point P of the unloading trolley area to facilitate labeling, and use deep learning technology to process the data set to achieve secondary system positioning of the trolley position; Step 3: PLC reads the Gray bus position parameters through network communication to complete the first-level system positioning of the trolley; Step 4: With the underground silo as the starting point and the upper silo as the end point, define the belt numbers as F1, F2, .. Fc; Step 5: Configure the material loading list S and the corresponding schedule T according to steelmaking requirements 1-n ; Step 6: Read the current time t, the material list S, and the current material weight W of each silo 1-m ; Step 7: When time t and T 1-n When they are equal, start the automatic loading program.

7. The method for automatic converter loading based on precise positioning according to claim 6, characterized in that: The method further comprises: Step 8: According to the on-site safety requirements, the unloading trolley will ring a bell to remind on-site personnel to evacuate before moving, and will simultaneously detect through video recognition. If it is detected that there are people on the scene, the trolley will be started with a delay and a warning sound will be issued to remind the personnel to stay away from the scene. When the site meets the safety conditions, it will move to the required silo location.

8. The method for automatic converter loading based on precise positioning according to claim 7, characterized in that: The method further comprises: Step 9: Before starting the belt conveyor, use video recognition technology to detect whether there are people on site. If there are, start it in the order of Fc-F1 when the site meets the safety conditions; Step 10: After the belt is started, use video recognition technology to identify the material type in the underground silo and confirm the silo where the current material type is stored. After confirmation, open the vibrating feeder of the underground silo to start unloading; Step 11: Assume that the parameter factor before the material falls on the belt is recorded as α, the vibration time of the feeder Tz, the height of the discharge port from the belt conveyor H, and the weight of the material W 1-m , calculate the material feeding speed and the weight W of the material falling onto the belt conveyor 1-m(p) ; Step 12: Assume that the current length of the auxiliary belt is LL 1-C The rotating speed of the belt conveyor roller is δ and the radius is r. The dynamic running speed of the belt conveyor and the time required for the material to reach the current loading bin are calculated based on the weight. Step 13: When multiple non-adjacent loading bins need the same auxiliary material at the same time, assuming that in the same batch, each bin needs the same material with a weight of W. 1-N , and the distance between the silos is LL 1-N , calculate the time TS that the material type in the silo meets the requirements 1-N ; Step 14: Assume that the high speed of the variable frequency vehicle is V H , normal speed is V N , low speed is V L , the distance between the silos where the unloading trolley moves is defined as L Max ,L Nor ,L Min , when the distance exceeds L Max When the car needs to send a high-speed operation instruction to the PLC control unit, that is, V H , when the distance is L Nor -L Max When the car needs to send a normal operation instruction to the PLC control unit, that is, V N , when the distance is less than L Min or L Min -L Nor In the meantime, the car needs to send a low-speed operation instruction to the PLC control unit.

9. The method for automatic converter loading based on precise positioning according to claim 8, characterized in that: The method further comprises: Step 15: Calculate the interval time TJ required for the unloading trolley to move to the loading bin according to step 13 1-N , and calculate the car position information according to the interval time; Step 16: There is a parameter factor β in the interval time, combined with the belt conveyor running speed V C 、Current weight of feeding bin W 1-N And the current belt conveyor material weight W 1-m(p) It is concluded that the lower bin vibrating feeder is automatically shut down within the interval range and under the action of parameter factors: 161) When the belt conveyor material weight W 1-m(p) and the current weight W of the loading bin 1-N When the sum is equal to the required weight of the silo, turn off the underground silo vibrating feeder and wait for the next vibration; 162) When the underground silo vibrating feeder is turned off, start timing. When the time is equal to T C When the current feeding bin vibrating feeder is turned off, the unloading trolley is moved at the same time; 163) When the unloading trolley moves, the timing T starts. Due to the change of the warehouse position, the length of the auxiliary belt occupied will inevitably change, resulting in a change in the time required for the material to reach the new loading silo. The calculation formula refers to step 10. Assume that T C1 , (1) When TJ 1-N and T C1 When they are equal: open the underground silo and the upper silo vibrating feeder at the same time; (2) When TJ 1-N and T C1 Unequal time: perform difference calculation on the two and make absolute value processing. When the timing time T and the difference are equal, open the underground silo and the upper silo vibrating feeder.

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