Method and device for generating steel moving sequence of continuous casting blank and program product

Abstract

The invention provides a generation method and device for a continuous casting blank steel moving sequence and a program product, and the method comprises the steps that production data of a steel moving machine are obtained in real time, the steel moving machine moves in a steel moving area to push a plurality of casting blanks to a cooling bed, and the steel moving area is the area where the steel moving machine moves from an original point position to a limit position; when the steel moving machine is started and the moving direction is a limit position, identifying a new casting blank at a preset blank ejection position through an image identification method; storing the basic information and the ejection position of the newly-fed casting blank to a casting blank position array according to a sorting rule; when the steel moving machine stops and the calculated current position of each casting blank is larger than the position of the corresponding casting blank in the casting blank position array, the position of the casting blank in the casting blank position array is updated; and when the steel moving machine reaches the limiting position, a steel moving sequence is obtained according to the casting blank position array, and the casting blank position array is emptied. By means of the technical scheme, accurate tracking of the position of the casting blank and efficient conveying of the casting blank are achieved.

Description

Technical Field

[0001] The present invention relates to the field of metal smelting and casting, and particularly to a method, device and program product for generating a moving steel sequence of continuous casting billets. Background Art

[0002] In modern steel production, the continuous casting process is a key step in continuously pouring liquid metal into billets. Although the development of continuous casting technology has been relatively mature, there are still some deficiencies in the actual production process, which affect production efficiency and billet quality. Firstly, the automation level of traditional continuous casting production lines is relatively low, relying on manual operation and monitoring, which is prone to human errors, resulting in low production efficiency and unstable billet quality. Secondly, it is difficult to accurately monitor the position and state of billets on the billet discharging roller table in real time. Especially in the case of a large number of billets and high speeds, traditional billet identification technologies cannot provide sufficient accuracy and reliability. In addition, the ability to collect and process production data in the actual production process is limited, and it is impossible to analyze and optimize the production process in real time, resulting in limited room for improving production efficiency and product quality. Summary of the Invention

[0003] Embodiments of the present invention provide a method, device and program product for generating a moving steel sequence of continuous casting billets, which realize accurate tracking of the billet position and efficient conveying of the billets, significantly improve the production efficiency and billet quality of the continuous casting production line, and meet the requirements of industrial production for efficient management and high-quality control.

[0004] To achieve the above object, on the one hand, a method for generating a moving steel sequence of continuous casting billets is provided, and the method includes:

[0005] Real-time acquisition of the production data of the steel transfer machine, where the steel transfer machine pushes a plurality of billets to the cooling bed by moving back and forth within the steel transfer area of the billet discharging roller table. Among them, the production data includes: the current position of the steel transfer machine, the moving direction of the steel transfer machine, and the start-stop signal of the steel transfer machine, and the steel transfer area is the area between the predetermined origin position and the predetermined limit position where the steel transfer machine moves;

[0006] When the steel transfer machine starts and the moving direction is the limit position, according to the basic information of all the cut billets obtained in advance and the image of the billet discharging roller table collected, a newly incoming billet at a predetermined billet discharging position is identified by a predetermined image recognition method; the basic information corresponding to the newly incoming billet and the predetermined billet discharging position are stored in a pre-constructed billet position array according to a predetermined sorting rule; where the billet position array includes: billet number and billet position; the basic information includes: billet number, casting number, furnace number, strand number, strand sequence number, billet cross-section, billet length, billet weight, and / or billet cutting completion time;

[0007] When the billet transfer machine stops, determine the current positions of each billet according to the current position of the billet transfer machine, the predetermined billet width, and the arrangement order of each billet in the billet position array. When the current position of each billet is greater than the position of the corresponding billet in the billet position array, update the position of the billet in the billet position array;

[0008] When the billet transfer machine reaches the limit position, output the current billet data in the billet position array in sequence to obtain the billet transfer sequence, and clear the billet position array.

[0009] Preferably, in the method for generating the continuous casting billet transfer sequence, the billet position array is stored in a pre-constructed billet transfer position sequence table related to the start time or stop time of the billet transfer machine.

[0010] Preferably, in the method for generating the continuous casting billet transfer sequence, when the billet transfer machine starts and the moving direction is the limit position, the steps of identifying the newly incoming billets at the predetermined billet discharging positions according to the basic information of each billet obtained in advance and the image of the billet discharging roller table collected, by a predetermined image recognition method include:

[0011] After identifying the billets at the predetermined billet discharging positions according to the basic information of each billet obtained in advance and the image of the billet discharging roller table collected and by a predetermined image recognition method, search for the corresponding billet data in the billet position array according to the billet numbers in the basic information of the identified billets. If the query result is empty or the billet position array is empty, all the identified billets are newly incoming billets;

[0012] If the query result is not empty, there are billets that have not been on the cooling bed before among the identified billets. Calculate the difference between the predetermined billet discharging positions corresponding to the identified billets and the positions of each billet in the billet position array. When the difference is less than the predetermined value, the corresponding identified billets are not newly incoming billets.

[0013] Preferably, in the method for generating the continuous casting billet transfer sequence, the predetermined sorting rule is: sort according to the distance from the origin position from near to far.

[0014] Preferably, in the method for generating the continuous casting billet transfer sequence, when the billet transfer machine stops, use the following formula to determine the current position of each billet in the billet position array according to the current position of the billet transfer machine, the predetermined billet width, and the arrangement order of each billet in the billet position array:

[0015] The current position of each billet = the current position of the billet transfer machine + the predetermined billet width * (m - 1)

[0016] Wherein, m represents the arrangement order of each continuous casting billet in the continuous casting billet position array.

[0017] Preferably, for the method for generating the continuous casting billet transfer sequence, when the pusher starts and the moving direction is the limit position, the step of identifying the newly incoming continuous casting billet at the predetermined billet discharging position according to the basic information of each continuous casting billet obtained in advance and the image of the billet discharging roller table collected, by a predetermined image recognition method includes:

[0018] When the pusher starts from the origin position for the first time and the moving direction is the limit position, compare the image of the billet discharging roller table collected according to the basic information of each continuous casting billet obtained in advance with the comparison image. Among the continuous casting billets in the image of the billet discharging roller table identified by the image recognition method, the continuous casting billets other than those in the comparison image identified by the image recognition method are newly incoming continuous casting billets; the comparison image is an initial image taken in advance.

[0019] Preferably, for the method for generating the continuous casting billet transfer sequence, it further includes:

[0020] When the starting position of the pusher is not the origin position but the moving direction is the limit position, collect the image of the billet discharging roller table, and replace the comparison image with the image of the billet discharging roller table currently collected;

[0021] When the pusher reaches the limit position, replace the comparison image with the initial image taken in advance.

[0022] On the other hand, an embodiment of the present invention provides a device for generating a continuous casting billet transfer sequence, which includes a memory and a processor. The memory stores at least one program, and the at least one program is executed by the processor to implement the method for generating the continuous casting billet transfer sequence as described in any one of the above.

[0023] On another aspect, an embodiment of the present invention provides a computer program product, including a computer program, wherein when the computer program is executed by a processor, it implements the method for generating the continuous casting billet transfer sequence as described in any one of the above.

[0024] The above technical solution has the following technical effects:

[0025] The technical solution of the embodiment of the present invention ensures the precise control and efficient operation of the steel transfer machine in the steel transfer area of the billet discharge roller table by obtaining the production data of the steel transfer machine in real time; when the steel transfer machine starts and moves towards the limit position, based on the basic information of each billet obtained in advance and the image of the billet discharge roller table collected, the newly incoming billets at the predetermined billet discharge positions are identified by using image recognition technology, and the basic information of the newly incoming billets and their predetermined billet discharge positions are stored in the billet position array according to the predetermined sorting rules; when the steel transfer machine stops, the current positions of each billet in the billet position array are calculated according to the current position of the steel transfer machine, the predetermined billet width, and the arrangement order of each billet in the billet position array, and the position information of the billets is dynamically updated; when the steel transfer machine reaches the limit position, the steel transfer sequence is output according to the order in the billet position array, and the array is cleared, ensuring the smooth transportation and efficient cooling of the billets, significantly improving the automation level and production efficiency of the continuous casting production line, and at the same time improving the position tracking accuracy and overall quality of the billets.

[0026] In a further embodiment, after collecting the image of the billet discharge roller table and identifying the billets, the corresponding billet data is searched in the billet position array according to the billet number in the basic information of the identified billets; if the query result is empty or the billet position array is empty, all the identified billets are newly incoming billets; if the query result is not empty, there are billets that have not been on the cooling bed before among the identified billets. By calculating the difference between the predetermined billet discharge position of the identified billets and the positions of each billet in the billet position array, when the difference is less than the predetermined value, it is determined that the billet is not a newly incoming billet, ensuring the accurate identification and classification of the billets and improving the accuracy and efficiency of billet tracking.

[0027] In a further embodiment, when the steel transfer machine starts from the origin position for the first time and the moving direction is the limit position, the image of the billet discharge roller table is collected and compared with the pre-taken initial image, and the billets not included in the comparison image are identified as newly incoming billets; when the starting position of the steel transfer machine is not the origin position and the moving direction is the limit position, the image of the billet discharge roller table is collected, and the comparison image is replaced with the currently collected image to ensure that the comparison image always reflects the latest billet state; when the steel transfer machine reaches the limit position, the comparison image is replaced with the pre-taken initial image again to prepare for the next billet identification, ensuring the accurate identification and tracking of the newly incoming billets, avoiding the errors and delays of manual visual inspection, and improving the accuracy and efficiency of billet tracking. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic flow chart of the method for generating the continuous casting billet transfer sequence according to an embodiment of the present invention;

[0029] Figure 2In the method for generating the steel transfer sequence of continuous casting billets according to an embodiment of the present invention, a schematic diagram shows a pusher moving back and forth within the steel transfer area of the billet discharge roller table to push multiple billets onto the cooling bed;

[0030] Figure 3 In a specific implementation of the method for generating the steel transfer sequence of continuous casting billets according to an embodiment of the present invention, a flowchart shows identifying newly incoming billets by calculating the billet position difference;

[0031] Figure 4 In a specific implementation of the method for generating the steel transfer sequence of continuous casting billets according to an embodiment of the present invention, a flowchart shows identifying newly incoming billets by comparing images;

[0032] Figure 5 In a specific implementation of the method for generating the steel transfer sequence of continuous casting billets according to an embodiment of the present invention, a flowchart shows the pusher pushing newly incoming billets onto the cooling bed at one time without any backward movement in the middle;

[0033] Figure 6 A schematic structural diagram of a device for generating the steel transfer sequence of continuous casting billets according to an embodiment of the present invention;

[0034] Figure 7 A schematic structural diagram of a device for generating the steel transfer sequence of continuous casting billets according to an embodiment of the present invention. Detailed implementation manners

[0035] To further illustrate the embodiments, the present invention provides accompanying drawings. These drawings are part of the disclosure of the present invention, mainly used to illustrate the embodiments, and can be combined with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, those of ordinary skill in the art should be able to understand other possible implementation manners and the advantages of the present invention. The components in the drawings are not drawn to scale, and similar component symbols are usually used to represent similar components.

[0036] The present invention will be further described below in conjunction with the accompanying drawings and specific implementation manners.

[0037] Embodiment 1:

[0038] To achieve precise tracking of the billet position and efficient transportation of billets, improve the production efficiency and billet quality of the continuous casting production line, and meet the requirements of industrial production for efficient management and high-quality control, the embodiment of the present invention provides a method for generating the steel transfer sequence of continuous casting billets. Figure 1 A flowchart of the method for generating the steel transfer sequence of continuous casting billets according to an embodiment of the present invention. As Figure 1 shown, the method includes:

[0039] Obtain the production data of the billet transfer machine in real time. The billet transfer machine moves back and forth within the billet transfer area of the billet discharging roller table to push multiple billets to the cooling bed. Among them, the production data includes: the current position of the billet transfer machine, the moving direction of the billet transfer machine, and the start-stop signal of the billet transfer machine. The billet transfer area is the area between the billet transfer machine moving from a predetermined origin position to a predetermined limit position;

[0040] When the billet transfer machine starts and the moving direction is the limit position, according to the basic information of all the cut billets obtained in advance and the image of the billet discharging roller table collected, identify the newly incoming billet at the predetermined billet discharging position through a predetermined image recognition method; store the basic information corresponding to the newly incoming billet and the predetermined billet discharging position into the pre-constructed billet position array according to a predetermined sorting rule; among them, the billet position array includes: billet number and the position of the billet; the basic information includes: billet number, casting sequence number, heat number, strand number, strand sequence number, billet cross-section, billet length, billet weight, and / or billet cutting completion time;

[0041] When the billet transfer machine stops, determine the current position of each billet according to the current position of the billet transfer machine, the predetermined billet width, and the arrangement order of each billet in the billet position array. When the current position of each billet is greater than the position of the corresponding billet in the billet position array, update the position of the billet in the billet position array;

[0042] When the billet transfer machine reaches the limit position, output the current billet data in the billet position array in sequence to obtain the billet transfer sequence, and empty the billet position array.

[0043] Embodiment 2:

[0044] During the billet tracking process, due to incorrect billet positions or the need for rework when detecting billet defects, etc., the signal for the billet to enter the billet discharging roller table contains information about billet retraction, and the billet transfer machine will stop during the billet transfer process and then retract in the direction of the predetermined origin position, that is, during one billet transfer process, the billet may not necessarily reach the end of the billet discharging roller table. All these will lead to the fact that relying solely on the primary production signal of the billet transfer machine, that is, the production data, is not sufficient to judge the whereabouts of the billet. Therefore, the embodiment of the present invention provides a method for generating a continuous casting billet transfer sequence to realize real-time tracking and monitoring of the billet transfer sequence to ensure the real-time visualization and comprehensiveness of the production process.

[0045] Figure 2 It is a schematic diagram of the billet transfer machine moving back and forth within the billet transfer area of the billet discharging roller table to push multiple billets to the cooling bed in the method for generating a continuous casting billet transfer sequence according to an embodiment of the present invention. Figure 2 There are five continuous casting billet strands, and the billets enter the billet discharging roller table from the five continuous casting billet strands. Each billet newly entering the billet discharging roller table from the billet strand has a corresponding predetermined billet discharging position. The billet transfer machine moves back and forth in the billet transfer area in the billet discharging roller table and pushes the billets into the cooling bed. AsFigure 2 As shown, there are newly entered billets in three of the five continuous casting billet streams; when the billet transfer machine starts from the predetermined origin position, moves towards the predetermined limit position and pushes the three newly entered billets, there are newly discharged billets, i.e., newly entered billets, at the predetermined billet discharging position; the billet transfer machine retreats to the origin position, and the position of the billets on the billet discharging roller table changes; until the billet transfer machine pushes all the billets to the limit position.

[0046] The method of the embodiment of the present invention includes:

[0047] (1) Obtaining the actual performance of continuous casting cutting, that is, the basic information of the billets that have been cut. Among them, the basic information includes: billet number, casting number, heat number, stream number, stream sequence number, billet cross-section, billet length, billet weight, billet cutting completion time, etc.

[0048] (2) Real-time collecting the production data of the programmable logic controller (PLC) of the primary production signals of the billet transfer machine. The production data includes: the current position of the billet transfer machine, the moving direction of the billet transfer machine, and the start-stop signal of the billet transfer machine; among them, the current position coordinate of the billet transfer machine is to record the specific position, i.e., the horizontal coordinate, where the billet transfer machine is located in the billet transfer area, and is used to determine the precise position of the billet transfer machine; the moving direction of the billet transfer machine is divided into the waste billet direction and the normal billet direction, that is, the predetermined origin position and the predetermined limit position;

[0049] In a specific embodiment, the billet transfer area on the billet discharging roller table is: the area where the billet transfer machine moves from the origin position, such as the original position in the north, to the limit position, such as the extreme limit position in the south. Among them, the position between the original position in the north and the extreme limit position in the south is called the middle position of the billet transfer area; the original position in the north and the extreme limit position in the south both have the position coordinate values in the same horizontal direction, and the origin is the original position in the north; when the billet transfer machine pushes multiple billets to the extreme limit position in the south, it means that the billet transfer machine pushes the billets towards the walking beam cooling bed position, and the billets are normal billets; when the billet transfer machine pushes multiple billets to the original position in the north, it means that the billet transfer machine pushes the billets towards the waste billet cooling bed position; when the billet transfer machine pushes normal billets, there is a situation where the billet transfer machine pushes the billets to the middle position and then retreats, and during this period, new billets enter the billet discharging roller table again.

[0050] (3) When the billet transfer machine starts from the origin position or the middle position of the billet transfer area and moves towards the limit position, collect the images of the billet discharging roller table and identify the billets in the collected images through the basic information of the billets that have been cut and the predetermined image recognition method.

[0051] (4) Determine the newly entered billets and their predetermined initial positions among the identified billets, and store the basic information and the predetermined initial positions of the newly entered billets into the pre-constructed billet position array according to the predetermined sorting rules;

[0052] Preferably, the slab position array is stored in a pre - constructed slab transfer position sequence table related to the starting time or stopping time of the slab transfer machine. The slab transfer sequence position table includes: the time of starting / stopping of the slab transfer machine, the slab position array storing the slab number and position of the current slab, the moving direction of the slab transfer machine, etc. Among them, the slab number and position of the slab are saved in the form of an array, that is, {slab number, the latest position of the slab on the billet discharging roller table}. For example:

[0053] [{no: slab number 1, coordinate: position value},

[0054] {no: slab number 2, coordinate: position value},

[0055] {no: slab number 3, coordinate: position value},

[0056] {no: slab number 4, coordinate: position value},

[0057] {no: slab number 5, coordinate: position value}].

[0058] Preferably, the predetermined sorting rule is: sort in ascending order of the distance from the origin position.

[0059] In a specific implementation, after obtaining the basic information of each slab in advance, collecting the image of the billet discharging roller table and identifying the slab at the predetermined billet discharging position through a predetermined image recognition method, the corresponding slab data is searched in the slab position array according to the slab number in the basic information of the identified slab. If the query result is empty, that is, the slab position array is empty, the slab transfer position sequence table is empty or the slab position array does not contain the slab, then all the identified slabs are newly - arrived slabs;

[0060] If the query result is not empty, there are slabs among the identified slabs that have not been on the cooling bed before. Calculate the difference between the predetermined billet discharging position corresponding to the identified slab and the position of each slab in the slab position array. When the difference is less than the predetermined value, the corresponding identified slab is not a newly - arrived slab.

[0061] In a specific implementation, when the slab transfer machine starts from the origin position for the first time and the moving direction is the limit position, the basic information of each slab obtained in advance is compared with the collected image of the billet discharging roller table and the comparison image. Among the slabs in the image of the billet discharging roller table identified by the image recognition method, the slabs other than the slabs in the comparison image identified by the image recognition method are newly - arrived slabs;

[0062] When the starting position of the billet transfer machine is not the origin position but the moving direction is towards the limit position, capture the image of the billet discharge roller table and replace the comparison image with the currently captured image of the billet discharge roller table;

[0063] When the billet transfer machine reaches the limit position, replace the comparison image with the pre-shot initial image; Preferably, the comparison image is the pre-shot initial image.

[0064] (5) When the billet transfer machine stops at the middle position in the billet transfer area, determine whether the billet transfer machine has pushed the continuous casting billet and update the position coordinates of each billet in the billet transfer sequence position table;

[0065] In a specific implementation, when the billet transfer machine stops, according to the current position of the billet transfer machine, the predetermined billet width, and the arrangement order of each billet in the billet position array, determine the current position of each billet in the billet position array. When the current position of each billet is greater than the position of the corresponding billet in the billet transfer position sequence table, update the position of the billet in the billet position array; Preferably, the current position of each billet = the current position of the billet transfer machine + the predetermined billet width * (m - 1), where m represents the arrangement order of each billet in the billet position array.

[0066] (6) Immediately when the billet transfer machine reaches the limit position, the billets step onto the cooling bed according to the order of the billet transfer sequence obtained from the latest billet position array, laying a foundation for subsequent billet tracking.

[0067] In the above embodiment of the present invention, first, collect the production signals of the billet transfer machine to obtain the moving direction and start / stop signals of the billet transfer machine; then, capture the image data of the billet transfer area in real time, and use the predetermined image recognition method to process and analyze the collected image data to determine the basic information and production order of each billet; as the billets randomly enter the billet discharge roller table, update and determine the positions and production sequences of the billets in combination with the image recognition information, providing a basis for the next billet stepping onto the cooling bed sequence.

[0068] Figure 3 In a specific implementation of the method for generating the continuous casting billet transfer sequence according to an embodiment of the present invention, it is a flowchart for identifying newly entered billets by calculating the billet position difference. The embodiment of the present invention provides a general example of a method for generating a continuous casting billet transfer sequence based on image recognition. When the billet transfer machine pushes the billets towards the limit position, this embodiment is applicable regardless of whether there are billets that did not step onto the cooling bed last time on the billet discharge roller table, as Figure 3 shown, specifically including:

[0069] 301, obtain the actual billet cutting data;

[0070] Responsible for obtaining the basic information of the cast slabs that have been cut, including: cast slab number, casting heat number, heat number, strand number, strand sequence number, cast slab section, cast slab length, cast slab weight, and / or the cast slab cutting completion time, etc., to provide accurate basic data for the subsequent production process;

[0071] 302, collecting the PLC signals of the slab transfer machine;

[0072] By collecting the primary production signals of the slab transfer machine, the position coordinates, movement direction, start and stop signals of the slab transfer machine are obtained in real time; and according to the primary production signals, the image capture is notified to capture real-time pictures: when the slab transfer machine starts from the origin position such as the north in-situ position or from the middle position of the slab transfer area to the limit position such as the south extreme limit position, the corresponding images are collected, and at the same time, the slab transfer direction and slab transfer time of the slab transfer machine are obtained. Among them, in specific implementation, the program module that realizes the cast slab tracking function, that is, the cast slab tracking module, is used to track the position of the cast slab. When the cast slab tracking module determines that the slab transfer machine starts from the origin position such as the north in-situ position or from the middle position of the slab transfer area to the limit position such as the south extreme limit position, it notifies the image recognition module that realizes the corresponding image collection and recognition to collect the images, and sends the obtained slab transfer direction and slab transfer time of the slab transfer machine to the image recognition module;

[0073] 303, identifying which cast slab strands have cast slabs;

[0074] At this time, new incoming cast slabs and cast slabs that were not sent to the cooling bed last time are not distinguished, and the cast slabs identified by the image recognition module are returned to the cast slab tracking module;

[0075] 304, judging which of the identified cast slabs are new incoming cast slabs;

[0076] Establish a slab transfer position sequence table, for example, through the cast slab tracking module, to record the start and stop times of the slab transfer machine and the corresponding cast slab position array that stores the current cast slab number and cast slab position; preferably, the value of the origin position is 0;

[0077] After receiving the cast slabs identified by the image recognition module, for example, through the cast slab tracking module, obtain a piece of data with the latest time from the start or stop time of the slab transfer machine in the slab transfer position sequence table, and obtain the corresponding cast slab position array A;

[0078] If A is empty or the slab transfer position sequence table is empty, it is determined that all the cast slabs identified by the image recognition are new incoming cast slabs, and the new incoming cast slabs are added to the cast slab position array and a slab transfer record is made;

[0079] If A is not empty, determine that there are billets on the blank discharging roller table that were not transferred to the walking beam cooling bed last time, and further determine which are newly incoming billets; calculate the difference between the predetermined standard blank discharging position corresponding to each identified billet and the latest position of each billet in A. If it is less than the predetermined value δ, determine that the corresponding billet is not a newly incoming billet, otherwise it is a newly incoming billet; make a steel transfer record according to the basic information of the newly incoming billets obtained; and insert the billet numbers and predetermined blank discharging positions of the newly incoming billets into A according to the predetermined sorting rule to obtain the latest billet steel transfer sequence. Preferably, the predetermined sorting rule is to sort according to the distance from the origin position from near to far;

[0080] 305. When the steel transfer machine stops at the middle position of the steel transfer area, update the billet coordinates;

[0081] Take the data with the latest time of starting and stopping the billet transfer recorded in the steel transfer position sequence table, and process the steel transfer sequence array in a loop. Among them, the number of loops is m (m = 1, 2...), and m represents the arrangement order of each billet in the steel transfer sequence array. If the current position of the steel transfer machine + the width of the predetermined billet * (m - 1) < the position of the corresponding billet in the steel transfer sequence array, it is considered that the steel transfer machine has not pushed to this billet and the position of this billet is not updated; otherwise, it is considered that the steel transfer machine has pushed to this billet and update the latest position of this billet;

[0082] 306. When the steel transfer machine reaches the southern limit position of the steel transfer area, obtain the existing billet steel transfer sequence according to the subscript of the billet position array, and push multiple billets onto the cooling bed, so as to obtain the overall serial number for subsequent billet tracking.

[0083] An embodiment of the present invention also provides an example of a method for generating a continuous casting billet steel transfer sequence. Different from the above embodiment, the newly incoming billets are identified by performing a picture comparison operation through a predetermined image recognition technology. Figure 4 In a specific implementation of the method for generating a continuous casting billet steel transfer sequence according to an embodiment of the present invention, it is a flowchart for identifying newly incoming billets by comparing images. As Figure 4 shown, the method includes:

[0084] 401. Obtain the actual billet cutting data;

[0085] Responsible for obtaining the basic information of the billets that have been cut, including: billet number, casting number, heat number, strand number, strand sequence number, billet section, billet length, billet weight, and / or billet cutting completion time, etc., to provide accurate basic data for the subsequent production process;

[0086] 402. Collect the PLC signals of the steel transfer machine;

[0087] By collecting the primary production signals of the steel transfer machine, obtain the position coordinates, movement direction, and start / stop signals of the steel transfer machine in real time;

[0088] 403. Capture real-time images according to PLC signals;

[0089] When the billet transfer machine starts from the original position in the north or from the middle position to the extreme position in the south, corresponding images are collected. Specifically, in implementation, the billet tracking module, which is a program module for realizing the billet tracking function, is used to track the position of the billet. When the billet tracking module determines that the billet transfer machine starts from the original position in the north or from the middle position to the extreme position in the south, it notifies the image recognition module for realizing corresponding image collection and recognition to collect images;

[0090] 404. Capture images and compare them with comparison images to identify newly incoming billets;

[0091] Based on the captured images and a predetermined image recognition method, identify on which of several predetermined billet discharging positions on the billet discharging roller table there are newly incoming billets, and send a message to the billet tracking module. Among them, the initial comparison image is a picture of the billet discharging roller table without billets;

[0092] 405. Process newly incoming billets;

[0093] After receiving the result from the image recognition module, the billet tracking module updates the billet transfer information in the billet transfer position sequence table according to the basic information of the newly incoming billet; and inserts the newly incoming billet and its predetermined billet discharging position into the latest billet sequence array A according to a predetermined sorting rule to obtain the latest billet transfer sequence;

[0094] 406. Update the comparison image according to PLC signals;

[0095] When the billet transfer machine starts from the middle position to the north, i.e., to the origin position, the billet tracking module notifies the image recognition module to collect pictures;

[0096] 407. Capture the current image and update it as the latest comparison image;

[0097] 408. When the billet transfer machine reaches the extreme position in the south, such as the extreme position, the billet tracking module notifies the image recognition module to update the comparison image to a picture of the billet discharging roller table without billets;

[0098] 409. Output the billet transfer sequence according to the billet positions in the latest billet position array;

[0099] The present invention also provides an example of a method for generating a billet transfer sequence for continuous casting billets. Different from the above embodiments, the billet transfer machine does not move back and forth in the middle position, that is, every time the billet transfer machine starts to push the billet to the extreme position in the south, regardless of whether it pauses in the middle position, it must push the billet onto the cooling bed, i.e., the extreme position, and then retreat to the north, i.e., the origin position, for the next billet pushing. Figure 5In a specific implementation of the method for generating the continuous casting billet transfer sequence according to an embodiment of the present invention, the flowchart shows the situation where the pusher pushes the newly entered billet to the cooling bed at one time without any backward movement in the middle. As Figure 5 shown, the method includes:

[0100] 501. Obtain the actual cutting data of the billet;

[0101] Responsible for obtaining the basic information of the billets that have been cut, including: billet number, casting number, heat number, strand number, strand sequence number, billet cross-section, billet length, billet weight, and / or billet cutting completion time, etc., providing accurate basic data for the subsequent production process;

[0102] 502. Collect the PLC signals of the pusher;

[0103] By collecting the primary production signals of the pusher, the position coordinates, movement direction, and start / stop signals of the pusher are obtained in real time;

[0104] 503. Capture real-time pictures according to the PLC signals;

[0105] When the pusher starts from the original position in the north or from the middle position to the extreme position in the south, the corresponding images are collected. Specifically, in the implementation, the billet tracking module of the program module that realizes the billet tracking function is used to track the position of the pusher. When the billet tracking module determines that the pusher starts from the original position in the north or from the middle position to the extreme position in the south, it notifies the image recognition module that realizes the corresponding image collection and recognition to collect images;

[0106] 504. Identify which billet strands have billets;

[0107] 505. Take out the corresponding billets from the actual cutting data of the billets according to the identified billets and make transfer records;

[0108] 506. Update the billet coordinates when the pusher stops at the middle position in the transfer area;

[0109] 507. Capture the current picture when the pusher starts again to the extreme position in the south;

[0110] 508. When the pusher reaches the extreme position in the transfer area, such as the extreme position in the south, or reaches the cooling bed, output the existing billet transfer sequence according to the order of the billet strands where the billets are located.

[0111] Figure 6 The structural schematic diagram of the device for generating the continuous casting billet transfer sequence according to an embodiment of the present invention. An embodiment of the present invention provides a device for generating a continuous casting billet transfer sequence. As Figure 6 shown, the device includes: an actual cutting data acquisition module for billets, a primary production PLC signal acquisition module, an image recognition module, a billet tracking module, and an output module;

[0112] 601, the billet cutting performance acquisition module;

[0113] The billet cutting performance includes: obtaining the basic information of the billet that has been cut, where the basic information includes: billet number, casting number, heat number, strand number, strand sequence number, billet cross-section, billet length, billet weight, and / or billet cutting completion time, etc.;

[0114] 602, the primary production PLC signal acquisition module;

[0115] Collect the PLC data of the primary production signals of the ingot transfer machine, including: the abscissa of the ingot transfer machine in the ingot transfer area, the moving direction of the ingot transfer machine, and the start / stop signal of the ingot transfer machine;

[0116] 603, the image recognition module;

[0117] Capture the billet image data on the billet discharging roller table in real time, process and analyze the collected image data, use a predetermined image recognition method to identify the characteristics of the billet and the situation of the billet flow where the billet is located, and return the recognition result to the billet coordinate tracking module in the ingot transfer area;

[0118] 604, the billet tracking module;

[0119] Mainly process the return results of the primary production PLC signals and the image recognition module to achieve accurate tracking of the billet position sequence; among them, the processing of the primary production PLC signals is: at an appropriate time such as when the ingot transfer machine stops, notify the image recognition module to capture an image, after the image feedbacks the recognition result, track the current billet position and relative sequence in the ingot transfer area, dynamically update the positions of each billet, and form a billet ingot transfer sequence;

[0120] 605, the output module;

[0121] Output the billet ingot transfer sequence, laying a foundation for tracking the overall billet discharging sequence within the same casting.

[0122] The embodiment of the present invention uses image recognition technology and billet position tracking algorithms to track the position and sequence of billets during the ingot transfer process; updates the billet position according to the latest position information of the ingot transfer machine, and by real-time monitoring the position of the ingot transfer machine and combining with the moving law of the billets, can timely update the billet position data to ensure the smooth progress of billet ingot transfer sequence tracking; further, provides a data storage structure for ingot transfer production data related to time and billet basic information, which can effectively record and manage the billet position information, and through this data storage structure, can easily retrieve and update the billet position data to provide support for monitoring and control during the production process; further, uses image recognition technology to compare the characteristics of the billets in two photos to identify the billets newly entering the ingot transfer area.

[0123] Embodiment 3:

[0124] The present invention further provides a device for generating a moving steel sequence of a continuous casting slab, as Figure 7 shown. The device includes a processor 701, a memory 702, a bus 703, and a computer program stored in the memory 702 and executable on the processor 701. The processor 701 includes one or more processing cores. The memory 702 is connected to the processor 701 through the bus 703. The memory 702 is used to store program instructions. When the processor 701 executes the computer program, the steps in the above method embodiment of Embodiment 1 of the present invention are implemented.

[0125] Furthermore, as an executable solution, the device for generating a moving steel sequence of a continuous casting slab may be a computer unit, and the computer unit may be a computing device such as a desktop computer, a notebook, a palm computer, and a cloud server. The computer unit may include, but is not limited to, a processor and a memory. Those skilled in the art can understand that the above composition structure of the computer unit is only an example of the computer unit and does not constitute a limitation on the computer unit. It may include more or fewer components than the above, or combine some components, or different components. For example, the computer unit may further include input / output devices, network access devices, a bus, etc., and the embodiments of the present invention do not make limitations thereto.

[0126] Furthermore, as an executable solution, the so-called processor may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The processor is the control center of the computer unit and connects all parts of the entire computer unit through various interfaces and lines.

[0127] The memory can be used to store the computer programs and / or modules. By running or executing the computer programs and / or modules stored in the memory and calling the data stored in the memory, the processor realizes various functions of the computer unit. The memory mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the mobile phone, etc. In addition, the memory can include high-speed random access memory and can also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0128] Embodiment 4:

[0129] The present invention also provides a computer program product, including a computer program, and when the computer program is executed by a processor, it realizes the steps of the method as described above.

[0130] Although the present invention has been specifically shown and described in conjunction with the preferred embodiments, those skilled in the art should understand that various changes can be made to the present invention in terms of form and details without departing from the spirit and scope of the present invention defined by the appended claims, and all of them fall within the protection scope of the present invention.

Claims

1. A method for generating a continuous casting billet shifting sequence, characterized in that: include: Real-time acquisition of production data of a steel moving machine, wherein the steel moving machine pushes a plurality of cast billets to a cooling bed by moving back and forth in a steel moving area of ​​a billet discharge roller, wherein the production data includes: a current position of the steel moving machine, a moving direction of the steel moving machine, and a start / stop signal of the steel moving machine, wherein the steel moving area is an area between a predetermined origin position and a predetermined limit position of the steel moving machine; When the steel transfer machine is started and the moving direction is the extreme position, according to the pre-acquired basic information of all the cut ingots and the collected image of the ingot discharge roller, a predetermined image recognition method is used to identify the newly-entered ingot at the predetermined discharge position; according to a predetermined sorting rule, the basic information corresponding to the newly-entered ingot and the predetermined discharge position are stored in a pre-constructed ingot position array; wherein the ingot position array includes: ingot number and ingot position; the basic information includes: ingot number, pouring number, furnace number, stream number, stream sequence number, ingot section, ingot length, ingot weight and / or ingot cutting completion time; When the steel moving machine stops, the current position of each of the casting billets is determined according to the current position of the steel moving machine, the predetermined casting billet width and the arrangement order of each casting billet in the casting billet position array, and when the current position of each casting billet is greater than the position of the corresponding casting billet in the casting billet position array, the position of the casting billet in the casting billet position array is updated; When the steel moving machine reaches the limit position, the current ingot data in the ingot position array is output in sequence, a steel moving sequence is obtained, and the ingot position array is cleared.

2. The method for generating a continuous casting strand shifting sequence according to claim 1, characterized in that: The ingot position array is stored in a pre-built steel transfer position sequence table associated with the start time or stop time of the steel transfer machine.

3. The method for generating a continuous casting strand shifting sequence according to claim 1, characterized in that: When the steel transfer machine is started and the moving direction is the extreme position, the step of identifying the newly-entered billet at the predetermined billet discharge position by a predetermined image recognition method according to the pre-acquired basic information of each billet and the collected image of the billet discharge roller comprises: After identifying the ingots at the predetermined discharging position according to the pre-acquired basic information of each ingot and the image of the discharging roller, using a predetermined image recognition method, searching the corresponding ingot data in the ingot position array according to the ingot number in the basic information of the identified ingot, if the query result is empty or the ingot position array is empty, the identified ingots are all new ingots; If the query result is not empty, then there are ingots among the identified ingots that have not been on the cooling bed before, and the difference between the predetermined billet discharge position corresponding to the identified ingot and the position of each ingot in the billet position array is calculated. When the difference is less than the predetermined value, the corresponding identified ingot is not a new ingot.

4. The method for generating a continuous casting strand shifting sequence according to claim 1, characterized in that: The predetermined sorting rule is: sorting from near to far according to the distance from the origin position.

5. The method for generating a continuous casting strand shifting sequence according to claim 4, characterized in that: When the steel transfer machine stops, the current position of each casting billet in the casting billet position array is determined using the following formula according to the current position of the steel transfer machine, the predetermined casting billet width, and the arrangement order of each casting billet in the casting billet position array: The current position of each ingot = the current position of the steel transfer machine + the predetermined ingot width * (m-1), wherein m represents the arrangement order of each ingot in the ingot position array.

6. The method for generating a continuous casting strand shifting sequence according to claim 1, characterized in that: When the steel transfer machine is started and the moving direction is the extreme position, the step of identifying the newly-entered billet at the predetermined billet discharge position by a predetermined image recognition method according to the pre-acquired basic information of each billet and the collected image of the billet discharge roller comprises: When the steel transfer machine is started from the origin position for the first time and the movement direction is the extreme position, the basic information of each ingot acquired in advance and the collected image of the ingot discharge roller are compared with the comparison image, wherein, among the ingots in the image of the ingot discharge roller identified by the image recognition method, the ingots other than the ingots in the comparison image identified by the image recognition method are newly-arrived ingots; and the comparison image is an initial image taken in advance.

7. The method for generating a continuous casting strand shifting sequence according to claim 6, characterized in that: Also includes: When the starting position of the steel transfer machine is not the origin position, but the moving direction is the limit position, an image of the billet discharge roller is acquired, and the comparison image is replaced by the currently acquired image of the billet discharge roller; When the steel moving machine reaches the limit position, the comparison image is replaced by the pre-shot initial image.

8. A device for generating a continuous casting billet shifting sequence, characterized in that: It comprises a memory and a processor, wherein the memory stores at least one program, and the at least one program is executed by the processor to implement the method for generating a continuous casting billet shifting sequence as described in any one of claims 1 to 7.

9. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method for generating a continuous casting billet shifting sequence as described in any one of claims 1 to 7 is implemented.

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