Bundling belt positioning calculation and dismantling method of binding belt dismantling robot

Abstract

The invention belongs to the field of steel coil strip dismounting, and relates to a strip positioning calculation and dismounting method of a strip dismounting robot. According to the technical scheme, the number of binding belts on a steel coil is detected through a laser detector; the positions, relative to the left saddle, the right saddle and the movable beam saddle, of the binding belt are detected; and the binding belt is sheared.

Description

Technical Field

[0001] The invention belongs to the field of steel coil stripping and relates to a strap positioning calculation and removal method of a strap stripping robot. Background Art

[0002] The leveling machine transports the steel coil to the uncoiler through the walking beam saddle. Before transporting it to the uncoiler, the strapping robot must first remove the strapping of the steel coil, but the strapping of the steel coil will be pressed between the steel coil and the saddle. After the strapping is removed, it cannot be recovered into the strapping bucket. The position of the strapping on the surface of the steel coil is found according to the positioning algorithm, and then the position of the strapping is obtained by comparing the position of the strapping by calculating the position of the walking beam groove and the data of the strapping position. Finally, the walking beam is raised to remove the strapping or the walking beam is lowered to remove the strapping.

[0003] The method runs on a PLC control system, and a control program is developed. The program determines the position and spacing of the strapping according to the data of the position sensor and the distance sensor. The sensor detects the precise position of the steel coil strapping and transmits the data to the PLC control system program for processing. The walking beam and the robot perform path planning and precise positioning based on the position data in the program. The program determines whether the strapping robot meets the requirements for strapping through multiple conditions to avoid the problem that the strapping pressed between the saddle and the steel coil cannot be removed and recycled. When the spacing or position of the strapping does not meet the preset conditions, the program will automatically set the "strap search failure" flag to prohibit the strapping robot from working. The sensor data and control data are combined to realize the intelligent management and optimization of the coordinated work of the strapping robot and the walking beam. Summary of the invention

[0004] In order to overcome the defects in the above-mentioned related art, the present invention proposes a strap positioning calculation and removal method of a strap removing robot.

[0005] The strap positioning calculation and removal method of the strap removal robot is suitable for removing the strap of the steel coil pressed on the steel coil saddle, the steel coil saddle includes: a fixed beam, a left saddle, a right saddle and a movable beam saddle, the fixed beam is fixed to the ground, a movable beam saddle is arranged in the middle of the fixed beam, the movable beam saddle has a tendency to reciprocate in the vertical direction, the left saddle is fixed on the fixed beam on the left side of the movable beam saddle, the right saddle is fixed on the fixed beam on the right side of the movable beam saddle, and the steel coil is placed on the left saddle, the right saddle and the movable beam saddle; The strap positioning calculation and removal method of the strap removal robot includes: A laser detector is used to detect the number of straps on the steel coil; Detecting the position of the strap relative to the left saddle, the right saddle and the movable beam saddle; Cut the strapping.

[0006] When the number of straps on the steel coil detected by the laser detector is 1, the method for shearing the straps includes: The position of the steel coil strapping is larger than the 480mm range of the left and right saddle edges, and smaller than the 980mm range of the left and right saddle edges. The strapping position is recorded as being above the movable beam saddle. There is no strapping above the left and right saddles. A command is sent to the movable beam saddle to raise the movable beam saddle to a high position. The strapping removal robot removes and recycles the strapping. When the above conditions are not met, it is considered that the steel coil strap is above the left saddle or the right saddle. When the edges on both sides of the left saddle and the right saddle are greater than or equal to 50mm, the steel coil strap position instruction is sent to the strap removal robot, and a command is sent to lower the movable beam saddle, remove the strap and recycle it.

[0007] When the number of straps on the steel coil detected by the laser detector is 2, the straps include straps at position 1 and straps at position 2. The method for shearing the strap comprises: It is determined that the distance between the strapping straps at position 1 and position 2 is greater than 75 mm (to ensure that the distance between the two strapping straps of the steel coil is greater than the distance between the strapping strap position of the steel coil and the left and right saddle edges). When the distance between the two strapping straps of the steel coil meets the condition, multiple conditional branches are entered to further determine the strapping strap position of the steel coil; (1) If the strapping position at position 1 is less than 980 mm from the edge of the right V-shaped fixed beam saddle, and if the strapping position at position 2 is greater than 480 mm from the edge of the left and right saddles, there are two steel coil strappings above the movable beam saddle, and no steel coil strappings above the left and right saddles; (2) Otherwise, if the strapping position at position 1 is greater than 980mm from the edge of the right V-shaped fixed beam saddle; the strapping position at position 2 is greater than 480mm from the edge of the left and right saddles, and less than 980mm from the edge of the left and right saddles, the strapping position at position 2 is above the left and right saddles, and the strapping position at position 1 is above the movable beam saddle, there is one steel coil strapping each above the fixed beam and movable beam saddle; (3) Otherwise, if the strapping position at position 1 is less than 980mm from the right V-shaped fixed beam saddle edge and greater than 480mm from the left and right saddle edges; the strapping position at position 2 is less than 480mm from the left and right saddle edges, the strapping position at position 1 is above the movable beam saddle, and the strapping position at position 2 is above the V-shaped saddle on the left side of the fixed beam, there is one steel coil strapping each above the fixed beam and the movable beam saddle; (4) Otherwise, if the strapping position at position 1 is greater than the 980mm range of the edge of the right V-shaped fixed beam saddle, and the strapping position at position 2 is less than the 480mm range of the edge of the left and right saddles, the strapping positions 1 and 2 are above the V-shaped saddle on the left side of the fixed beam, and there are two steel coil strappings above the left and right saddles; (5) When the edge of the left and right saddles is greater than or equal to 50mm; Based on the above conditions, the steel coil strapping position command is sent to the strapping removal robot, and the command is sent to the movable beam saddle. The movable beam saddle is first raised to a high position, and the strapping on the right fixed beam position is cut. Then the movable beam saddle is lowered to a low position, and the strapping on the movable beam saddle position is cut. When the above conditions are not met, it is set to "failed to find strap" for the strapping removal robot, and the strapping removal robot is prohibited from continuing to work.

[0008] When the number of straps on the steel coil detected by the laser detector is 3, the straps include: strap at position 1, strap at position 2, and strap at position 3. The method for shearing the strap comprises: The difference between the absolute value of the strapping position at position 2 and the absolute value of the strapping position at position 1 is less than 75mm (the distance between the two strapping straps of the steel coil is determined by the working range of the shear blade of the strap removal robot. When the distance between the two strapping straps is less than 75mm, the shearing range is deemed invalid) and the difference between the absolute value of the strapping position at position 3 and the absolute value of the strapping position at position 2 is greater than 75mm; If the position of strap at position 3 is greater than the 480mm range of the left and right saddle edges, and less than the 980mm range of the left and right saddle edges, it is considered that there is only one strap, and the strap position is on the upper part of the movable beam saddle. The position of strap at position 3 is taken as the first strap position. Otherwise, it is considered that there is one strap at position 3 on the left and right saddles. Otherwise, if the difference between the absolute value of the strapping position at position 2 and the absolute value of the strapping position at position 1 is greater than 75mm, and the difference between the absolute value of the strapping position at position 3 and the absolute value of the strapping position at position 2 is less than 75mm, if the strapping position at position 1 is greater than the 480mm range of the left saddle and the right saddle edge, and less than the 980mm range of the left saddle and the right saddle edge, it is considered that there is only one strapping for the steel coil, and the strapping position is on the upper part of the movable beam saddle, and the strapping position at position 1 is taken as the first strapping position, otherwise, it is considered that there is one strapping position 1 on the left saddle and the right saddle; (2) Otherwise, if the difference between the absolute value of the strap position at position 2 and the absolute value of the strap position at position 1 is greater than 75 mm, and the difference between the absolute value of the strap position at position 3 and the absolute value of the strap position at position 2 is greater than 75 mm; If the strapping positions at position 1 and position 2 are both larger than the 980mm range of the left saddle and the right saddle edge, and the strapping position at position 3 is larger than the 480mm range of the left saddle and the right saddle edge, and smaller than the 980mm range of the left saddle and the right saddle edge, the strapping position at position 3 is recorded as the first steel coil strapping, which is located above the movable beam saddle. There are two strapping positions above the left saddle and the right saddle, which are recorded as the first strapping position 1 and the second strapping position 2 above the left saddle and the right saddle, respectively. Otherwise, if the strap at position 1 is smaller than the 980mm range of the left saddle and the right saddle edge, and the straps at positions 2 and 3 are smaller than the 480mm range of the left saddle and the right saddle edge, the strap at position 1 is recorded as the first strap, and the straps at positions 2 and 3 are recorded as the first strap and the second strap of the left saddle and the right saddle respectively; Otherwise, if the strap at position 1 is larger than the 980mm range of the left saddle on the right and the right saddle edge, the strap at position 2 is smaller than the 980mm range of the left saddle on the right and the right saddle edge, and the strap at position 3 is larger than the 480mm range of the left saddle and the right saddle edge, and smaller than the 980mm range of the left saddle and the right saddle edge, the strap at position 1 is recorded as the first strap above the left saddle and the right saddle, and the straps at positions 2 and 3 are recorded as the first strap and the second strap of the movable beam saddle respectively, and the number of straps above the left saddle and the right saddle is 1; Otherwise, if the strap at position 1 is smaller than the 980mm range of the left saddle and the right saddle edge on the right side, the strap at position 2 is larger than the 480mm range of the left saddle and the right saddle edge, and smaller than the 980mm range of the left saddle and the right saddle edge on the right side, and the strap at position 3 is smaller than the 480mm range of the left saddle and the right saddle edge, the strap at position 3 is recorded as the first strap above the fixed beam, and the straps at positions 1 and 2 are recorded as the first and second straps of the movable beam saddle respectively, and the number of straps above the left saddle and the right saddle is 1; Otherwise, if the strap at position 1 is larger than the 980mm range of the left saddle and the right saddle edge, the strap at position 2 is larger than the 480mm range of the left saddle and the right saddle edge, and smaller than the 980mm range of the left saddle and the right saddle edge, and the strap at position 3 is smaller than the 480mm range of the left saddle and the right saddle edge, the straps at position 1 and position 3 are recorded as the first and second straps of the fixed beam saddle respectively, the strap at position 2 is recorded as the first strap above the movable beam saddle, and the number of straps above the left saddle and the right saddle is 2; Otherwise, if the strap at position 1 is smaller than the 980mm range of the left saddle and the right saddle edge, and the strap at position 3 is larger than the 480mm range of the left saddle and the right saddle edge, the straps at position 1, position 2, and position 3 are recorded as the first strap, the second strap, and the third strap of the movable beam saddle respectively; (3) When the edge of the left and right saddles is greater than or equal to 50mm; (4) If the above conditions are not met, it will be set to "failed to find tape"; Based on the above conditions, the steel coil strapping position command is sent to the strapping removal robot, which in turn sends a command to the movable beam saddle to lower the movable beam saddle to a low position and cut the strapping at the movable beam saddle position. Otherwise, it is considered that there is a strapping at position 1 on the fixed beam saddle, and the steel coil strapping position command is sent to the strapping removal robot, which in turn sends a command to the movable beam saddle to raise the movable beam saddle to a high position and cut the steel coil strapping at the fixed beam position. When "strap finding fails", the strapping removal robot is prohibited from moving.

[0009] When the number of straps on the steel coil detected by the laser detector is 4, the straps include: strap at position 1, strap at position 2, strap at position 3 and strap at position 4. The method for shearing the strap comprises: If the difference between the absolute value of the strapping position at position 2 and the absolute value of the strapping position at position 1 is less than 75mm, and the difference between the absolute value of the strapping position at position 3 and the absolute value of the strapping position at position 2 is greater than 75mm, and the difference between the absolute value of the strapping position at position 4 and the absolute value of the strapping position at position 3 is greater than 75mm, that is, the strapping at position 1 and position 2 are close to each other, which is an invalid steel coil strapping. The strapping removal robot cannot cut the strapping and enters multiple conditional branches to further determine the position of the steel coil strapping; If the strapping positions at position 3 and position 4 are greater than 480mm from the left and right saddle edges, and there are two steel coil strappings above the movable beam saddle, the strapping positions at position 3 and position 4 are recorded as the first and second strappings, respectively; Otherwise, if the strapping position at position 4 is larger than the 480mm range of the left and right saddle edges, and the strapping position at position 3 is smaller than the 480mm range of the left and right saddle edges, there is one steel coil strapping on each of the movable beam saddle, the left saddle, and the right saddle, which are strapping at position 3 and position 4 respectively; (2) If the difference between the absolute value of the strapping position at position 2 and the absolute value of the strapping position at position 1 is greater than 75 mm, and the difference between the absolute value of the strapping position at position 3 and the absolute value of the strapping position at position 2 is less than 75 mm, and the difference between the absolute value of the strapping position at position 4 and the absolute value of the strapping position at position 3 is greater than 75 mm, that is, the strapping at position 2 and position 3 is close to each other, which is an invalid steel coil strapping. The strapping removal robot cannot cut the strapping and enters multiple conditional branches to further determine the position of the steel coil strapping; If the strap at position 4 is smaller than the left and right saddle edges by 480mm, and the strap at position 1 is smaller than the right and left saddle edges by 980mm, and there are two steel coil straps above the left and right saddles, the straps at position 1 and position 4 are recorded as the first and second straps respectively; Otherwise, if the strapping position at position 4 is larger than the 480mm range of the left and right saddle edges, and the strapping position at position 1 is smaller than the 980mm range of the left and right saddle edges, there are two steel coil strappings above the movable beam saddle, and the strapping positions at position 1 and position 4 are recorded as the first and second strappings respectively; Otherwise, if the strapping position at position 4 is smaller than the 480mm range of the left and right saddle edges, and the strapping position at position 1 is smaller than the 980mm range of the left and right saddle edges, there is a steel coil strapping above the fixed beam and movable beam saddles, which are strapping position 4 and strapping position 1 respectively; Otherwise, if the position of the strap at position 4 is larger than the 480mm range of the left and right saddle edges, and the strap at position 1 is larger than the 980mm range of the left and right saddle edges, there is a steel coil strap above the fixed beam and movable beam saddles, which are straps at position 1 and position 4 respectively; (3) If the difference between the absolute value of the strapping position at position 2 and the absolute value of the strapping position at position 1 is greater than 75 mm, and the difference between the absolute value of the strapping position at position 3 and the absolute value of the strapping position at position 2 is greater than 75 mm, and the difference between the absolute value of the strapping position at position 4 and the absolute value of the strapping position at position 3 is less than 75 mm, that is, the strapping at position 3 and position 4 are close to each other, which is an invalid steel coil strapping. The strapping removal robot cannot cut the strapping and enters multiple conditional branches to further determine the position of the steel coil strapping; If the strapping positions at position 1 and position 2 are smaller than the 980mm range of the left saddle and the right saddle edge, there are two steel coil strappings above the movable beam saddle, and the strapping positions at position 1 and position 2 are recorded as the first and second strappings respectively; Otherwise, if the strapping position at position 2 is smaller than the 980mm range of the left saddle on the right and the right saddle edge, and the strapping position at position 1 is larger than the 980mm range of the left saddle on the right and the right saddle edge, there is a steel coil strapping above the movable beam saddle, the left saddle and the right saddle respectively, and the strapping position at position 2 and position 1 are recorded as the first and second strapping respectively; (4) If the difference between the absolute value of the strapping position at position 2 and the absolute value of the strapping position at position 1 is greater than 75 mm, and the difference between the absolute value of the strapping position at position 3 and the absolute value of the strapping position at position 2 is greater than 75 mm, and the difference between the absolute value of the strapping position at position 4 and the absolute value of the strapping position at position 3 is greater than 75 mm, that is, the strapping at position 3 and position 4 are close to each other, which is an invalid steel coil strapping. The strapping removal robot cannot cut the strapping and enters multiple conditional branches to further determine the position of the steel coil strapping; If the strapping position at position 1 is smaller than the 980mm range of the left saddle and the right saddle edge, and the strapping position at position 4 is larger than the 480mm range of the left saddle and the right saddle edge, there are four steel coil strappings above the movable beam saddle, and the steel coil strappings at position 1, position 2, position 3, and position 4 are recorded as the first, second, third, and fourth strappings respectively; Otherwise, if the strapping position at position 1 is greater than 980mm of the right side left saddle and the right side saddle edge, the strapping position at position 2 is less than 980mm of the right side left saddle and the right side saddle edge, and greater than 480mm of the left side saddle and the right side saddle edge, the strapping position at position 3 is less than 980mm of the right side left saddle and the right side saddle edge, and greater than 480mm of the left side saddle and the right side saddle edge, and the strapping position at position 4 is greater than 480mm of the left side saddle and the right side saddle edge; There is a strap at position 1 above the left saddle and the right saddle, and four steel coil straps above the movable beam saddle. The steel coil straps at position 2, position 3, and position 4 are recorded as the first, second, and third straps respectively; Otherwise, if the strapping position at position 1 is greater than 980mm of the right side left saddle and the right side saddle edge, the strapping position at position 2 is greater than 980mm of the right side left saddle and the right side saddle edge, and greater than 480mm of the left side saddle and the right side saddle edge, and the strapping positions at positions 3 and 4 are less than 480mm of the left side saddle and the right side saddle edge, there are two steel coil strappings above the left side saddle and the right side saddle, namely strappings at position 1 and position 2, and there are two steel coil strappings above the movable beam saddle, namely strappings at position 3 and position 4, which are recorded as the first and second strappings respectively; Otherwise, if the strapping positions at positions 1 and 2 are less than 980mm from the edge of the V-shaped saddle of the right fixed beam, and the strapping positions at positions 3 and 4 are less than 480mm from the edge of the left and right saddles, there are two steel coil strappings above the left and right saddles, namely strappings at positions 3 and 4, and there are two steel coil strappings above the movable beam saddle, namely strappings at positions 1 and 2, which are recorded as the first and second strappings respectively; Otherwise, if the strapping positions of position 1 and position 2 are less than 980mm from the edge of the V-shaped saddle of the right fixed beam, position 4 is less than 480mm from the edge of the left saddle and the right saddle, and the strapping position of position 3 is less than the edge of the left saddle and the right saddle and greater than 480mm from the edge of the left saddle and the right saddle, there is a strapping position 4 above the left saddle and the right saddle, and there are three steel coil strapping positions above the movable beam saddle, namely strapping positions 1, 2, and 3, which are recorded as the first, second, and third strapping positions respectively; (5) When the edge of the left and right saddles is greater than or equal to 50mm; (6) If the above conditions are not met, it will be set to "failed to find tape"; According to the above conditions, send the steel coil strap position command to the strap removal robot, send the command to the movable beam saddle, lower the movable beam saddle to the low position, and cut the strap at the movable beam saddle position. Otherwise, it is considered that there is a strap at position 1 on the fixed beam saddle, send the steel coil strap position command to the strap removal robot, send the command to the movable beam saddle, raise the movable beam saddle to the high position, and cut the steel coil strap at the fixed beam position. When "strip search fails", the strap removal robot is prohibited from moving; When 4 straps are detected, the program determines the distance between every two straps through conditions to decide how to record the position and set the number of straps. The conditions include: the 1st and 2nd straps are close together, the 3rd and 4th straps are separated, or the 2nd and 3rd straps are close together, the others are separated, or the 3rd and 4th straps are close together, the others are separated; Record the strap positions from the first strap position to the fourth strap position or the first / second strap positions on both sides, depending on the situation; If the number of straps is not between 1 and 4, it will be set to "failed to find straps"; Based on the above conditions, the steel coil strapping position command is sent to the strapping removal robot, which in turn sends a command to the movable beam saddle to lower the movable beam saddle to a low position and cut the strapping at the movable beam saddle position. Otherwise, it is considered that there is a strapping at position 1 on the fixed beam saddle, and the steel coil strapping position command is sent to the strapping removal robot, which in turn sends a command to the movable beam saddle to raise the movable beam saddle to a high position and cut the steel coil strapping at the fixed beam position. When "strap finding fails", the strapping removal robot is prohibited from moving.

[0010] The beneficial effects of the present invention are: According to the positioning algorithm, the position of the steel belt on the surface of the steel coil is found, and then the position of the V-shaped saddle of the walking beam is calculated, and the data of the steel belt position is found, and the position of the steel belt is calculated, and finally the walking beam is raised to remove the strapping or the walking beam is lowered to remove the strapping. The strapping pressed on the saddle is removed and recycled, and the equipment is damaged by erroneous operation when the stacked straps and strapping are close and there is no strapping robot to remove the strapping. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work. Figure 1 It is a schematic diagram of placing a steel coil on a steel coil saddle according to the present invention; Figure 2 This is a schematic diagram of placing another steel coil on a steel coil saddle according to the present invention. DETAILED DESCRIPTION

[0012] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the present invention. In the description of the present invention, it should be understood that the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying 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 operate in a specific orientation, and therefore should not be understood as limiting the present invention. 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. Therefore, the features defined as "first" and "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. like Figure 1 and Figure 2 As shown, the strap positioning calculation and removal method of the strap removal robot is suitable for removing the strap of the steel coil pressed on the steel coil saddle, and the steel coil saddle includes: a fixed beam, a left saddle 1, a right saddle 2 and a movable beam saddle 3, the fixed beam is fixed to the ground, and a movable beam saddle 3 is arranged in the middle of the fixed beam, and the movable beam saddle 3 has a tendency to reciprocate in the vertical direction, the left saddle 1 is fixed on the fixed beam on the left side of the movable beam saddle 3, and the right saddle 2 is fixed on the fixed beam on the right side of the movable beam saddle 3, and the steel coil 4 is placed on the left saddle 1, the right saddle 2 and the movable beam saddle 3; The strap positioning calculation and removal method of the strap removal robot includes: A laser detector is used to detect the number of straps on the steel coil 4; Detecting the position of the strap relative to the left saddle 1, the right saddle 2 and the movable beam saddle 3; Cut the strapping.

[0013] When the number of straps on the steel coil 4 detected by the laser detector is 1, the method for shearing the straps includes: The strapping position of steel coil 4 is larger than the 480mm range of the left saddle 1 and the right saddle 2, and smaller than the 980mm range of the left saddle 1 and the right saddle 2. The strapping position is recorded as being above the movable beam saddle 3. There is no strapping above the left saddle 1 and the right saddle 2. A command is sent to the movable beam saddle 3 to raise the movable beam saddle 3 to a high position. The strapping removal robot removes and recycles the strapping. When the above conditions are not met, it is considered that the strap of the steel coil 4 is above the left saddle 1 or the right saddle 2. When the edges on both sides of the left saddle 1 and the right saddle 2 are greater than or equal to 50 mm, the position instruction of the strap of the steel coil 4 is sent to the strap removal robot, and a command is sent to lower the movable beam saddle 3 to remove and recycle the strap.

[0014] When the number of straps on the steel coil 4 detected by the laser detector is 2, the straps include straps at position 1 and straps at position 2. The method for shearing the strap comprises: It is determined that the distance between the strapping straps at position 1 and position 2 is greater than 75 mm (to ensure that the distance between the two strapping straps of the steel coil 4 is greater than the distance between the strapping strap position of the steel coil 4 and the left saddle 1 and the right saddle 2). When the distance between the two strapping straps of the steel coil 4 meets the condition, multiple conditional branches are entered to further determine the strapping strap position of the steel coil 4. (1) If the strapping position of position 1 is less than 980mm from the edge of the right V-shaped fixed beam saddle, and if the strapping position of position 2 is greater than 480mm from the edge of the left saddle 1 and the right saddle 2, there are two strappings of steel coil 4 above the movable beam saddle 3, and there are no strappings of steel coil 4 above the left saddle 1 and the right saddle 2; (2) Otherwise, if the strapping position at position 1 is greater than the 980mm range of the right V-shaped fixed beam saddle edge; the strapping position at position 2 is greater than the 480mm range of the left saddle 1 and the right saddle 2 edges, and less than the 980mm range of the right left saddle 1 and the right saddle 2 edges, the strapping position at position 2 is above the left saddle 1 and the right saddle 2, the strapping position at position 1 is above the movable beam saddle 3, and there is a steel coil 4 strapping above each of the fixed beam and the movable beam saddle 3; (3) Otherwise, if the strapping position at position 1 is less than 980mm from the right V-shaped fixed beam saddle edge, and greater than 480mm from the left saddle 1 and the right saddle 2 edge; the strapping position at position 2 is less than 480mm from the left saddle 1 and the right saddle 2 edge, the strapping position at position 1 is above the movable beam saddle 3, and the strapping position at position 2 is above the V-shaped saddle on the left side of the fixed beam, there is a steel coil 4 strapping above each of the fixed beam and movable beam saddle 3; (4) Otherwise, if the strapping position of position 1 is greater than the 980mm range of the edge of the right V-shaped fixed beam saddle, and the strapping position of position 2 is less than the 480mm range of the edge of the left saddle 1 and the right saddle 2, the strapping positions 1 and 2 are above the V-shaped saddle on the left side of the fixed beam, and there are two steel coil 4 strapping positions above the left saddle 1 and the right saddle 2; (5) When the edge of the left saddle 1 and the right saddle 2 is greater than or equal to 50mm; Based on the above conditions, the strapping position instruction of the steel coil 4 is sent to the strapping removal robot, and the instruction is sent to the movable beam saddle 3. The movable beam saddle 3 is first raised to the high position, and the strapping on the right fixed beam position is cut. Then the movable beam saddle 3 is lowered to the low position, and the strapping on the movable beam saddle 3 position is cut. When the above conditions are not met, it is set to "failed to find the strap" for the strapping removal robot, and the strapping removal robot is prohibited from continuing to work.

[0015] When the number of straps on the steel coil 4 detected by the laser detector is 3, the straps include: strap at position 1, strap at position 2 and strap at position 3. The method for shearing the strap comprises: The difference between the absolute value of the strapping position at position 2 and the absolute value of the strapping position at position 1 is less than 75mm (the distance between the two straps of the steel coil 4 is determined by the working range of the shear blade of the strap removal robot. When the distance between the two straps is less than 75mm, the shearing range is deemed invalid) and the difference between the absolute value of the strapping position at position 3 and the absolute value of the strapping position at position 2 is greater than 75mm; If the strap position at position 3 is greater than the 480mm range of the left saddle 1 and the right saddle 2, and less than the 980mm range of the left saddle 1 and the right saddle 2, it is considered that there is only one strap, and the strap position is on the upper part of the movable beam saddle 3. The strap position at position 3 is taken as the first strap position. Otherwise, it is considered that there is one strap at position 3 on the left saddle 1 and the right saddle 2. Otherwise, if the difference between the absolute value of the strapping position at position 2 and the absolute value of the strapping position at position 1 is greater than 75mm, and the difference between the absolute value of the strapping position at position 3 and the absolute value of the strapping position at position 2 is less than 75mm, if the strapping position at position 1 is greater than the 480mm range of the left saddle 1 and the right saddle 2 edge, and less than the 980mm range of the right saddle 1 and the right saddle 2 edge, it is considered that there is only one strapping for the steel coil 4, and the strapping position is on the upper part of the movable beam saddle 3, and the strapping position at position 1 is taken as the first strapping position, otherwise, it is considered that there is one strapping position 1 on the left saddle 1 and the right saddle 2; (2) Otherwise, if the difference between the absolute value of the strap position at position 2 and the absolute value of the strap position at position 1 is greater than 75 mm, and the difference between the absolute value of the strap position at position 3 and the absolute value of the strap position at position 2 is greater than 75 mm; If the strapping positions at position 1 and position 2 are both larger than the 980mm range of the right side of the left saddle 1 and the right side of the saddle 2, and the strapping position at position 3 is larger than the 480mm range of the left side of the saddle 1 and the right side of the saddle 2, and smaller than the 980mm range of the right side of the left side of the saddle 1 and the right side of the saddle 2, the strapping position at position 3 is recorded as the strapping of the first steel coil 4, which is located above the movable beam saddle 3. There are two strapping positions above the left saddle 1 and the right side of the saddle 2, which are recorded as the first strapping position 1 and the second strapping position 2 above the left saddle 1 and the right side of the saddle 2 respectively; Otherwise, if the strap at position 1 is smaller than the 980mm range of the left saddle 1 and the right saddle 2, and the straps at positions 2 and 3 are smaller than the 480mm range of the left saddle 1 and the right saddle 2, the strap at position 1 is recorded as the first strap, and the straps at positions 2 and 3 are recorded as the first strap and the second strap of the left saddle 1 and the right saddle 2 respectively; Otherwise, if the strap at position 1 is larger than the 980mm range of the right side left saddle 1 and the right side saddle 2, the strap at position 2 is smaller than the 980mm range of the right side left saddle 1 and the right side saddle 2, and the strap at position 3 is larger than the 480mm range of the left side saddle 1 and the right side saddle 2, and smaller than the 980mm range of the right side left saddle 1 and the right side saddle 2, the strap at position 1 is recorded as the first strap above the left side saddle 1 and the right side saddle 2, and the straps at positions 2 and 3 are recorded as the first strap and the second strap of the movable beam saddle 3 respectively, and the number of straps above the left side saddle 1 and the right side saddle 2 is 1; Otherwise, if the strap at position 1 is smaller than the 980mm range of the left saddle 1 and the right saddle 2 edge, the strap at position 2 is larger than the 480mm range of the left saddle 1 and the right saddle 2 edge, and smaller than the 980mm range of the left saddle 1 and the right saddle 2 edge, and the strap at position 3 is smaller than the 480mm range of the left saddle 1 and the right saddle 2 edge, record the strap at position 3 as the first strap above the fixed beam, record the straps at position 1 and position 2 as the first strap and the second strap of the movable beam saddle 3 respectively, and the number of straps above the left saddle 1 and the right saddle 2 is 1; Otherwise, if the strap at position 1 is larger than the 980mm range of the left saddle 1 and the right saddle 2 edge, the strap at position 2 is larger than the 480mm range of the left saddle 1 and the right saddle 2 edge, and smaller than the 980mm range of the left saddle 1 and the right saddle 2 edge, and the strap at position 3 is smaller than the 480mm range of the left saddle 1 and the right saddle 2 edge, the straps at position 1 and position 3 are recorded as the first and second straps of the fixed beam saddle respectively, and the strap at position 2 is recorded as the first strap above the movable beam saddle 3, and the number of straps above the left saddle 1 and the right saddle 2 is 2; Otherwise, if the strap at position 1 is smaller than the 980mm range of the left saddle 1 and the right saddle 2, and the strap at position 3 is larger than the 480mm range of the left saddle 1 and the right saddle 2, the straps at position 1, position 2, and position 3 are recorded as the first strap, the second strap, and the third strap of the movable beam saddle 3, respectively; (3) When the edge of the left saddle 1 and the right saddle 2 is greater than or equal to 50 mm; (4) If the above conditions are not met, it will be set to "failed to find tape"; Based on the above conditions, the strapping position command of steel coil 4 is sent to the strapping removal robot, which sends a command to the movable beam saddle 3 to lower the movable beam saddle 3 to the low position and cut the strapping at the position of the movable beam saddle 3. Otherwise, it is considered that there is a strapping at position 1 on the fixed beam saddle, and the strapping position command of steel coil 4 is sent to the strapping removal robot, which sends a command to the movable beam saddle 3 to raise the movable beam saddle 3 to the high position and cut the strapping of steel coil 4 at the fixed beam position. When "strap finding fails", the strapping removal robot is prohibited from moving.

[0016] When the number of straps on the steel coil 4 detected by the laser detector is 4, the straps include: strap at position 1, strap at position 2, strap at position 3 and strap at position 4. The method for shearing the strap comprises: If the difference between the absolute value of the strapping position at position 2 and the absolute value of the strapping position at position 1 is less than 75mm, and the difference between the absolute value of the strapping position at position 3 and the absolute value of the strapping position at position 2 is greater than 75mm, and the difference between the absolute value of the strapping position at position 4 and the absolute value of the strapping position at position 3 is greater than 75mm, that is, the strapping at position 1 and position 2 are close to each other, which is an invalid strapping of steel coil 4. The strapping removal robot cannot cut the strapping and enters multiple conditional branches to further determine the position of the strapping of steel coil 4. If the positions of the straps at positions 3 and 4 are larger than the 480mm range of the left saddle 1 and the right saddle 2, there are two straps of steel coil 4 above the movable beam saddle 3, and the straps at positions 3 and 4 are recorded as the first and second straps respectively; Otherwise, if the position of the strap at position 4 is larger than the 480mm range of the left saddle 1 and the right saddle 2, and the position of the strap at position 3 is smaller than the 480mm range of the left saddle 1 and the right saddle 2, there is a steel coil 4 strap on each of the movable beam saddle 3, the left saddle 1, and the right saddle 2, which are the straps at position 3 and position 4 respectively; (2) If the difference between the absolute value of the strapping position at position 2 and the absolute value of the strapping position at position 1 is greater than 75 mm, and the difference between the absolute value of the strapping position at position 3 and the absolute value of the strapping position at position 2 is less than 75 mm, and the difference between the absolute value of the strapping position at position 4 and the absolute value of the strapping position at position 3 is greater than 75 mm, that is, the strapping at position 2 and position 3 are close to each other, which is an invalid strapping of the steel coil 4. The strapping removal robot cannot cut the strapping and enters multiple conditional branches to further determine the position of the strapping of the steel coil 4; If the strap at position 4 is smaller than the 480mm range of the left saddle 1 and the right saddle 2, and the strap at position 1 is smaller than the 980mm range of the right saddle 1 and the right saddle 2, and there are two straps of steel coil 4 above the left saddle 1 and the right saddle 2, the straps at position 1 and position 4 are recorded as the first and second straps respectively; Otherwise, if the strapping position at position 4 is larger than the 480mm range of the left saddle 1 and the right saddle 2, and the strapping position at position 1 is smaller than the 980mm range of the right saddle 1 and the right saddle 2, there are two strappings of steel coil 4 above the movable beam saddle 3, and the strappings at position 1 and position 4 are recorded as the first and second strappings respectively; Otherwise, if the position of the strap at position 4 is smaller than the 480mm range of the left saddle 1 and the right saddle 2 edge, and the strap at position 1 is smaller than the 980mm range of the right saddle 1 and the right saddle 2 edge, there is a strap at position 4 and position 1 above the fixed beam and the movable beam saddle 3 respectively; Otherwise, if the position of the strap at position 4 is larger than the 480mm range of the left saddle 1 and the right saddle 2 edge, and the strap at position 1 is larger than the 980mm range of the right saddle 1 and the right saddle 2 edge, there is a steel coil 4 strap above each of the fixed beam and movable beam saddle 3, which are straps at position 1 and position 4 respectively; (3) If the difference between the absolute value of the strapping position at position 2 and the absolute value of the strapping position at position 1 is greater than 75 mm, and the difference between the absolute value of the strapping position at position 3 and the absolute value of the strapping position at position 2 is greater than 75 mm, and the difference between the absolute value of the strapping position at position 4 and the absolute value of the strapping position at position 3 is less than 75 mm, that is, the strapping at positions 3 and 4 is adjacent to each other, which is an invalid strapping of the steel coil 4. The strapping removal robot cannot cut the strapping and enters multiple conditional branches to further determine the position of the strapping at steel coil 4. If the strapping positions at position 1 and position 2 are smaller than the 980mm range of the left saddle 1 and the right saddle 2 on the right side, there are two strappings of steel coil 4 above the movable beam saddle 3, and the strappings at position 1 and position 2 are recorded as the first and second strappings respectively; Otherwise, if the strapping position at position 2 is smaller than the 980mm range of the right side left saddle 1 and the right side saddle 2, and the strapping position at position 1 is larger than the 980mm range of the right side left saddle 1 and the right side saddle 2, there is a strapping of steel coil 4 above each of the movable beam saddle 3, the left side saddle 1, and the right side saddle 2, and the strapping position at position 2 and position 1 are recorded as the first and second strapping respectively; (4) If the difference between the absolute value of the strapping position at position 2 and the absolute value of the strapping position at position 1 is greater than 75 mm, and the difference between the absolute value of the strapping position at position 3 and the absolute value of the strapping position at position 2 is greater than 75 mm, and the difference between the absolute value of the strapping position at position 4 and the absolute value of the strapping position at position 3 is greater than 75 mm, that is, the strapping at positions 3 and 4 is adjacent, which is an invalid strapping of the steel coil 4. The strapping removal robot cannot cut the strapping and enters multiple conditional branches to further determine the position of the strapping at steel coil 4. If the strapping position at position 1 is smaller than the 980mm range of the left saddle 1 and the right saddle 2, and the strapping position at position 4 is larger than the 480mm range of the left saddle 1 and the right saddle 2, there are four strappings of steel coil 4 above the movable beam saddle 3, and the strappings of steel coil 4 at position 1, position 2, position 3, and position 4 are recorded as the first, second, third, and fourth strappings respectively; Otherwise, if the strapping position at position 1 is greater than 980mm of the right side left saddle 1 and right side saddle 2, the strapping position at position 2 is less than 980mm of the right side left saddle 1 and right side saddle 2, and greater than 480mm of the left side saddle 1 and right side saddle 2, the strapping position at position 3 is less than 980mm of the right side left saddle 1 and right side saddle 2, and greater than 480mm of the left side saddle 1 and right side saddle 2, and the strapping position at position 4 is greater than 480mm of the left side saddle 1 and right side saddle 2; There is a position 1 strap above the left saddle 1 and the right saddle 2, and there are four steel coil 4 straps above the movable beam saddle 3. The steel coil 4 straps at position 2, position 3, and position 4 are recorded as the first, second, and third straps respectively; Otherwise, if the strapping position at position 1 is greater than 980mm of the right side of the left saddle 1 and the right side of the saddle 2, the strapping position at position 2 is greater than 980mm of the right side of the left saddle 1 and the right side of the saddle 2, and greater than 480mm of the left side of the saddle 1 and the right side of the saddle 2, and the strapping position at position 3 and position 4 is less than 480mm of the left side of the saddle 1 and the right side of the saddle 2, there are two steel coils and 4 strappings above the left saddle 1 and the right side of the saddle 2, which are strappings at position 1 and position 2 respectively, and there are two steel coils and 4 strappings above the movable beam saddle 3, which are strappings at position 3 and position 4 respectively, which are recorded as the first and second strappings respectively; Otherwise, if the strapping positions of position 1 and position 2 are less than 980mm from the edge of the V-shaped saddle of the right fixed beam, and the strapping positions of position 3 and position 4 are less than 480mm from the edge of the left saddle 1 and the right saddle 2, there are two steel coils and 4 strappings above the left saddle 1 and the right saddle 2, which are strappings at position 3 and position 4, and there are two steel coils and 4 strappings above the movable beam saddle 3, which are strappings at position 1 and position 2, which are recorded as the first and second strappings respectively; Otherwise, if the strapping positions of position 1 and position 2 are less than 980mm of the edge of the V-shaped saddle of the right fixed beam, position 4 is less than 480mm of the edge of the left saddle 1 and the right saddle 2, and the strapping position of position 3 is less than the edge of the left saddle 1 and the right saddle 2 and greater than 480mm of the edge of the left saddle 1 and the right saddle 2, there is a strapping position 4 above the left saddle 1 and the right saddle 2, and there are three strapping positions 4 above the movable beam saddle 3, which are strapping positions 1, 2, and 3, and they are recorded as the first, second, and third strapping positions respectively; (5) When the edge of the left saddle 1 and the right saddle 2 is greater than or equal to 50mm; (6) If the above conditions are not met, it will be set to "failed to find tape"; According to the above conditions, send the steel coil 4 strap position command to the strap removal robot, send the command to the movable beam saddle 3, lower the movable beam saddle 3 to the low position, and cut the strap at the position of the movable beam saddle 3. Otherwise, it is considered that there is a strap at position 1 on the fixed beam saddle, send the steel coil 4 strap position command to the strap removal robot, send the command to the movable beam saddle 3, raise the movable beam saddle 3 to the high position, and cut the steel coil 4 strap at the fixed beam position. When "strip search fails", the strap removal robot is prohibited from moving; When 4 straps are detected, the program determines the distance between every two straps through conditions to decide how to record the position and set the number of straps. The conditions include: the 1st and 2nd straps are close together, the 3rd and 4th straps are separated, or the 2nd and 3rd straps are close together, the others are separated, or the 3rd and 4th straps are close together, the others are separated; Record the strap positions from the first strap position to the fourth strap position or the first / second strap positions on both sides, depending on the situation; If the number of straps is not between 1 and 4, it will be set to "failed to find straps"; Based on the above conditions, the strapping position command of steel coil 4 is sent to the strapping removal robot, which sends a command to the movable beam saddle 3 to lower the movable beam saddle 3 to the low position and cut the strapping at the position of the movable beam saddle 3. Otherwise, it is considered that there is a strapping at position 1 on the fixed beam saddle, and the strapping position command of steel coil 4 is sent to the strapping removal robot, which sends a command to the movable beam saddle 3 to raise the movable beam saddle 3 to the high position and cut the strapping of steel coil 4 at the fixed beam position. When "strap finding fails", the strapping removal robot is prohibited from moving.

[0017] 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.

[0018] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within 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 strap positioning calculation and removal method for a strap removal robot, suitable for removing the strap of a steel coil pressed on a steel coil saddle, wherein the steel coil saddle comprises: A fixed beam, a left saddle, a right saddle and a movable beam saddle, wherein the fixed beam is fixed to the ground, a movable beam saddle is arranged in the middle of the fixed beam, and the movable beam saddle has a tendency to reciprocate in the vertical direction, a left saddle is fixed on the fixed beam on the left side of the movable beam saddle, and a right saddle is fixed on the fixed beam on the right side of the movable beam saddle, and the steel coil is placed on the left saddle, the right saddle and the movable beam saddle; Characterized in that, the strap positioning calculation and removal method of the strap removal robot includes: A laser detector is used to detect the number of straps on the steel coil; Detecting the position of the strap relative to the left saddle, the right saddle and the movable beam saddle; Cut the strapping.

2. The strap positioning calculation and removal method of the strap removal robot according to claim 1, characterized in that: When the number of straps on the steel coil detected by the laser detector is 1, the method for shearing the straps includes: The position of the steel coil strapping is larger than the 480mm range of the left and right saddle edges, and smaller than the 980mm range of the left and right saddle edges. The strapping position is recorded as being above the movable beam saddle. There is no strapping above the left and right saddles. A command is sent to the movable beam saddle to raise the movable beam saddle to a high position. The strapping removal robot removes and recycles the strapping. When the above conditions are not met, it is considered that the steel coil strap is above the left saddle or the right saddle. When the edges on both sides of the left saddle and the right saddle are greater than or equal to 50mm, the steel coil strap position instruction is sent to the strap removal robot, and a command is sent to lower the movable beam saddle, remove the strap and recycle it.

3. The strap positioning calculation and removal method of the strap removal robot according to claim 1, characterized in that: When the number of straps on the steel coil detected by the laser detector is 2, the straps include straps at position 1 and straps at position 2. The method for shearing the strap comprises: It is determined that the distance between the strapping straps at position 1 and position 2 is greater than 75 mm. If the distance between the two strapping straps of the steel coil meets the condition, multiple conditional branches are entered to further determine the position of the strapping straps of the steel coil; (1) If the strapping position at position 1 is less than 980 mm from the edge of the right V-shaped fixed beam saddle, and if the strapping position at position 2 is greater than 480 mm from the edge of the left and right saddles, there are two steel coil strappings above the movable beam saddle, and no steel coil strappings above the left and right saddles; (2) Otherwise, if the strapping position at position 1 is greater than 980mm from the edge of the right V-shaped fixed beam saddle; the strapping position at position 2 is greater than 480mm from the edge of the left and right saddles, and less than 980mm from the edge of the left and right saddles, the strapping position at position 2 is above the left and right saddles, and the strapping position at position 1 is above the movable beam saddle, there is one steel coil strapping each above the fixed beam and movable beam saddle; (3) Otherwise, if the strapping position at position 1 is less than 980mm from the right V-shaped fixed beam saddle edge and greater than 480mm from the left and right saddle edges; the strapping position at position 2 is less than 480mm from the left and right saddle edges, the strapping position at position 1 is above the movable beam saddle, and the strapping position at position 2 is above the V-shaped saddle on the left side of the fixed beam, there is one steel coil strapping each above the fixed beam and the movable beam saddle; (4) Otherwise, if the strapping position at position 1 is greater than the 980mm range of the edge of the right V-shaped fixed beam saddle, and the strapping position at position 2 is less than the 480mm range of the edge of the left and right saddles, the strapping positions 1 and 2 are above the V-shaped saddle on the left side of the fixed beam, and there are two steel coil strappings above the left and right saddles; (5) When the edge of the left and right saddles is greater than or equal to 50mm; Based on the above conditions, the steel coil strapping position command is sent to the strapping removal robot, and the command is sent to the movable beam saddle. The movable beam saddle is first raised to a high position, and the strapping on the right fixed beam position is cut. Then the movable beam saddle is lowered to a low position, and the strapping on the movable beam saddle position is cut. If the above conditions are not met, it is set to "failed to find strap" for the strapping removal robot, and the strapping removal robot is prohibited from continuing to work.

4. The strap positioning calculation and removal method of the strap removal robot according to claim 1, characterized in that: When the number of straps on the steel coil detected by the laser detector is 3, the straps include: strap at position 1, strap at position 2, and strap at position 3. The method for shearing the strap comprises: The difference between the absolute value of the strapping position at position 2 and the absolute value of the strapping position at position 1 is less than 75 mm, and the difference between the absolute value of the strapping position at position 3 and the absolute value of the strapping position at position 2 is greater than 75 mm; If the position of strap at position 3 is greater than the 480mm range of the left and right saddle edges, and less than the 980mm range of the left and right saddle edges, it is considered that there is only one strap, and the strap position is on the upper part of the movable beam saddle. The position of strap at position 3 is taken as the first strap position. Otherwise, it is considered that there is one strap at position 3 on the left and right saddles. Otherwise, if the difference between the absolute value of the strapping position at position 2 and the absolute value of the strapping position at position 1 is greater than 75mm, and the difference between the absolute value of the strapping position at position 3 and the absolute value of the strapping position at position 2 is less than 75mm, if the strapping position at position 1 is greater than the 480mm range of the left saddle and the right saddle edge, and less than the 980mm range of the left saddle and the right saddle edge, it is considered that there is only one strapping for the steel coil, and the strapping position is on the upper part of the movable beam saddle, and the strapping position at position 1 is taken as the first strapping position, otherwise, it is considered that there is one strapping position 1 on the left saddle and the right saddle; (2) Otherwise, if the difference between the absolute value of the strap position at position 2 and the absolute value of the strap position at position 1 is greater than 75 mm, and the difference between the absolute value of the strap position at position 3 and the absolute value of the strap position at position 2 is greater than 75 mm; If the strapping positions at position 1 and position 2 are both larger than the 980mm range of the left saddle and the right saddle edge, and the strapping position at position 3 is larger than the 480mm range of the left saddle and the right saddle edge, and smaller than the 980mm range of the left saddle and the right saddle edge, the strapping position at position 3 is recorded as the first steel coil strapping, which is located above the movable beam saddle. There are two strapping positions above the left saddle and the right saddle, which are recorded as the first strapping position 1 and the second strapping position 2 above the left saddle and the right saddle, respectively. Otherwise, if the strap at position 1 is smaller than the 980mm range of the left saddle and the right saddle edge, and the straps at positions 2 and 3 are smaller than the 480mm range of the left saddle and the right saddle edge, the strap at position 1 is recorded as the first strap, and the straps at positions 2 and 3 are recorded as the first strap and the second strap of the left saddle and the right saddle respectively; Otherwise, if the strap at position 1 is larger than the 980mm range of the left saddle on the right and the right saddle edge, the strap at position 2 is smaller than the 980mm range of the left saddle on the right and the right saddle edge, and the strap at position 3 is larger than the 480mm range of the left saddle and the right saddle edge, and smaller than the 980mm range of the left saddle and the right saddle edge, the strap at position 1 is recorded as the first strap above the left saddle and the right saddle, and the straps at positions 2 and 3 are recorded as the first strap and the second strap of the movable beam saddle respectively, and the number of straps above the left saddle and the right saddle is 1; Otherwise, if the strap at position 1 is smaller than the 980mm range of the left saddle and the right saddle edge on the right side, the strap at position 2 is larger than the 480mm range of the left saddle and the right saddle edge, and smaller than the 980mm range of the left saddle and the right saddle edge on the right side, and the strap at position 3 is smaller than the 480mm range of the left saddle and the right saddle edge, the strap at position 3 is recorded as the first strap above the fixed beam, and the straps at positions 1 and 2 are recorded as the first and second straps of the movable beam saddle respectively, and the number of straps above the left saddle and the right saddle is 1; Otherwise, if the strap at position 1 is larger than the 980mm range of the left saddle and the right saddle edge, the strap at position 2 is larger than the 480mm range of the left saddle and the right saddle edge, and smaller than the 980mm range of the left saddle and the right saddle edge, and the strap at position 3 is smaller than the 480mm range of the left saddle and the right saddle edge, the straps at position 1 and position 3 are recorded as the first and second straps of the fixed beam saddle respectively, the strap at position 2 is recorded as the first strap above the movable beam saddle, and the number of straps above the left saddle and the right saddle is 2; Otherwise, if the strap at position 1 is smaller than the 980mm range of the left saddle and the right saddle edge, and the strap at position 3 is larger than the 480mm range of the left saddle and the right saddle edge, the straps at position 1, position 2, and position 3 are recorded as the first strap, the second strap, and the third strap of the movable beam saddle respectively; (3) When the edge of the left and right saddles is greater than or equal to 50mm; (4) If the above conditions are not met, it is set to "failed to find tape"; Based on the above conditions, send the steel coil strapping position command to the strapping removal robot, send the command to the movable beam saddle, lower the movable beam saddle to a low position, and cut the strapping at the movable beam saddle position; otherwise, it is considered that there is a strapping at position 1 on the fixed beam saddle, send the steel coil strapping position command to the strapping removal robot, send the command to the movable beam saddle, raise the movable beam saddle to a high position, and cut the steel coil strapping at the fixed beam position; when "strap finding fails", the strapping removal robot is prohibited from moving.

5. The strap positioning calculation and removal method of the strap removal robot according to claim 1, characterized in that: When the number of straps on the steel coil detected by the laser detector is 4, the straps include: strap at position 1, strap at position 2, strap at position 3 and strap at position 4. The method for shearing the strap comprises: If the difference between the absolute value of the strapping position at position 2 and the absolute value of the strapping position at position 1 is less than 75mm, and the difference between the absolute value of the strapping position at position 3 and the absolute value of the strapping position at position 2 is greater than 75mm, and the difference between the absolute value of the strapping position at position 4 and the absolute value of the strapping position at position 3 is greater than 75mm, that is, the strapping at position 1 and position 2 are close to each other, which is an invalid steel coil strapping. The strapping removal robot cannot cut the strapping and enters multiple conditional branches to further determine the position of the steel coil strapping; If the strapping positions at position 3 and position 4 are greater than 480mm from the left and right saddle edges, and there are two steel coil strappings above the movable beam saddle, the strapping positions at position 3 and position 4 are recorded as the first and second strappings, respectively; Otherwise, if the strapping position at position 4 is larger than the 480mm range of the left and right saddle edges, and the strapping position at position 3 is smaller than the 480mm range of the left and right saddle edges, there is one steel coil strapping on each of the movable beam saddle, the left saddle, and the right saddle, which are strapping at position 3 and position 4 respectively; (2) If the difference between the absolute value of the strapping position at position 2 and the absolute value of the strapping position at position 1 is greater than 75 mm, and the difference between the absolute value of the strapping position at position 3 and the absolute value of the strapping position at position 2 is less than 75 mm, and the difference between the absolute value of the strapping position at position 4 and the absolute value of the strapping position at position 3 is greater than 75 mm, that is, the strapping at position 2 and position 3 is close to each other, which is an invalid steel coil strapping. The strapping removal robot cannot cut the strapping and enters multiple conditional branches to further determine the position of the steel coil strapping; If the strap at position 4 is smaller than the left and right saddle edges by 480mm, and the strap at position 1 is smaller than the right and left saddle edges by 980mm, and there are two steel coil straps above the left and right saddles, the straps at position 1 and position 4 are recorded as the first and second straps respectively; Otherwise, if the strapping position at position 4 is larger than the 480mm range of the left and right saddle edges, and the strapping position at position 1 is smaller than the 980mm range of the left and right saddle edges, there are two steel coil strappings above the movable beam saddle, and the strapping positions at position 1 and position 4 are recorded as the first and second strappings respectively; Otherwise, if the strapping position at position 4 is smaller than the 480mm range of the left and right saddle edges, and the strapping position at position 1 is smaller than the 980mm range of the left and right saddle edges, there is a steel coil strapping above the fixed beam and movable beam saddles, which are strapping position 4 and strapping position 1 respectively; Otherwise, if the position of the strap at position 4 is larger than the 480mm range of the left and right saddle edges, and the strap at position 1 is larger than the 980mm range of the left and right saddle edges, there is a steel coil strap above the fixed beam and movable beam saddles, which are straps at position 1 and position 4 respectively; (3) If the difference between the absolute value of the strapping position at position 2 and the absolute value of the strapping position at position 1 is greater than 75 mm, and the difference between the absolute value of the strapping position at position 3 and the absolute value of the strapping position at position 2 is greater than 75 mm, and the difference between the absolute value of the strapping position at position 4 and the absolute value of the strapping position at position 3 is less than 75 mm, that is, the strapping at position 3 and position 4 are close to each other, which is an invalid steel coil strapping. The strapping removal robot cannot cut the strapping and enters multiple conditional branches to further determine the position of the steel coil strapping; If the strapping positions at position 1 and position 2 are smaller than the 980mm range of the left saddle and the right saddle edge, there are two steel coil strappings above the movable beam saddle, and the strapping positions at position 1 and position 2 are recorded as the first and second strappings respectively; Otherwise, if the strapping position at position 2 is smaller than the 980mm range of the left saddle on the right and the right saddle edge, and the strapping position at position 1 is larger than the 980mm range of the left saddle on the right and the right saddle edge, there is a steel coil strapping above the movable beam saddle, the left saddle and the right saddle respectively, and the strapping position at position 2 and position 1 are recorded as the first and second strapping respectively; (4) If the difference between the absolute value of the strapping position at position 2 and the absolute value of the strapping position at position 1 is greater than 75 mm, and the difference between the absolute value of the strapping position at position 3 and the absolute value of the strapping position at position 2 is greater than 75 mm, and the difference between the absolute value of the strapping position at position 4 and the absolute value of the strapping position at position 3 is greater than 75 mm, that is, the strapping at position 3 and position 4 are close to each other, which is an invalid steel coil strapping. The strapping removal robot cannot cut the strapping and enters multiple conditional branches to further determine the position of the steel coil strapping; If the strapping position at position 1 is smaller than the 980mm range of the left saddle and the right saddle edge, and the strapping position at position 4 is larger than the 480mm range of the left saddle and the right saddle edge, there are four steel coil strappings above the movable beam saddle, and the steel coil strappings at position 1, position 2, position 3, and position 4 are recorded as the first, second, third, and fourth strappings respectively; Otherwise, if the strapping position at position 1 is greater than 980mm of the right side left saddle and the right side saddle edge, the strapping position at position 2 is less than 980mm of the right side left saddle and the right side saddle edge, and greater than 480mm of the left side saddle and the right side saddle edge, the strapping position at position 3 is less than 980mm of the right side left saddle and the right side saddle edge, and greater than 480mm of the left side saddle and the right side saddle edge, and the strapping position at position 4 is greater than 480mm of the left side saddle and the right side saddle edge; There is a strap at position 1 above the left saddle and the right saddle, and four steel coil straps above the movable beam saddle. The steel coil straps at position 2, position 3, and position 4 are recorded as the first, second, and third straps respectively; Otherwise, if the strapping position at position 1 is greater than 980mm of the right side left saddle and the right side saddle edge, the strapping position at position 2 is greater than 980mm of the right side left saddle and the right side saddle edge, and greater than 480mm of the left side saddle and the right side saddle edge, and the strapping positions at positions 3 and 4 are less than 480mm of the left side saddle and the right side saddle edge, there are two steel coil strappings above the left side saddle and the right side saddle, namely strappings at position 1 and position 2, and there are two steel coil strappings above the movable beam saddle, namely strappings at position 3 and position 4, which are recorded as the first and second strappings respectively; Otherwise, if the strapping positions at positions 1 and 2 are less than 980mm from the edge of the V-shaped saddle of the right fixed beam, and the strapping positions at positions 3 and 4 are less than 480mm from the edge of the left and right saddles, there are two steel coil strappings above the left and right saddles, namely strappings at positions 3 and 4, and there are two steel coil strappings above the movable beam saddle, namely strappings at positions 1 and 2, which are recorded as the first and second strappings respectively; Otherwise, if the strapping positions of position 1 and position 2 are less than 980mm from the edge of the V-shaped saddle of the right fixed beam, position 4 is less than 480mm from the edge of the left saddle and the right saddle, and the strapping position of position 3 is less than the edge of the left saddle and the right saddle and greater than 480mm from the edge of the left saddle and the right saddle, there is a strapping position 4 above the left saddle and the right saddle, and there are three steel coil strapping positions above the movable beam saddle, namely strapping positions 1, 2, and 3, which are recorded as the first, second, and third strapping positions respectively; (5) When the edge of the left and right saddles is greater than or equal to 50mm; (6) If the above conditions are not met, it is set to "failed to find tape"; According to the above conditions, send the steel coil strap position command to the strap removal robot, send the command to the movable beam saddle, lower the movable beam saddle to the low position, and cut the strap at the movable beam saddle position. Otherwise, it is considered that there is a strap at position 1 on the fixed beam saddle, send the steel coil strap position command to the strap removal robot, send the command to the movable beam saddle, raise the movable beam saddle to the high position, and cut the steel coil strap at the fixed beam position. When "strap search fails", the strap removal robot is prohibited from moving; When 4 straps are detected, the program determines the distance between every two straps through conditions to decide how to record the position and set the number of straps. The conditions include: the 1st and 2nd straps are close together, the 3rd and 4th straps are separated, or the 2nd and 3rd straps are close together, the others are separated, or the 3rd and 4th straps are close together, the others are separated; Record the strap positions from the first strap position to the fourth strap position or the first / second strap positions on both sides, depending on the situation; If the number of straps is not between 1 and 4, it will be set to "failed to find straps"; Based on the above conditions, send the steel coil strapping position command to the strapping removal robot, send the command to the movable beam saddle, lower the movable beam saddle to a low position, and cut the strapping at the movable beam saddle position; otherwise, it is considered that there is a strapping at position 1 on the fixed beam saddle, send the steel coil strapping position command to the strapping removal robot, send the command to the movable beam saddle, raise the movable beam saddle to a high position, and cut the steel coil strapping at the fixed beam position; when "strap finding fails", the strapping removal robot is prohibited from moving.

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