High-precision coil falling control system and method for dynamically changing target coil falling position
Patent Information
- Application Number
- CN202510930983.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-07
- Publication Date
- 2025-11-14
Smart Images
Figure CN120943142A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of automation control technology, specifically to a high-precision roll-up control system and method with dynamic changes in the target roll-up position. Background Technology
[0002] In offline steel coil packaging operations, the process requires the coil unwinding control accuracy to reach ±20mm or even higher. However, the control accuracy of the automatic control crane is generally far from meeting the process requirements.
[0003] Because conventional bridge cranes use flexible wire rope connections, some swaying is unavoidable during operation. Even with fully automatic control and electronic anti-sway technology, it is impossible to control the sway angle to 0°, which will cause deviations between the steel coil and the target position when it is unloaded.
[0004] In addition to the swing angle, the deviation affecting the unwinding also consists of positioning error, mechanical error and other errors.
[0005] Furthermore, in the manual packaging process of steel coils in the steel industry, the target position for coil unwinding is dynamic and needs to coincide as closely as possible with the center of the outer sheath in the packaging material. However, since the placement of the packaging material is done manually, high precision is impossible. Excessive error may prevent the steel coil from being packaged.
[0006] In situations where the target unwinding position changes dynamically, in a manually controlled crane mode, a skilled crane operator typically controls the crane to unwind the packaging material based on its placement. However, with the widespread adoption of automatic crane control, in situations requiring high-precision unwinding, the conventional approach is to detect the actual placement of the packaging material, reduce various errors, and suppress swaying to improve unwinding accuracy. But this approach is very costly. Summary of the Invention
[0007] To address the shortcomings of existing technologies, the purpose of this invention is to provide a high-precision roll-off control system and method with dynamic changes in the target roll-off position.
[0008] A high-precision roll-off control system with dynamic change of target roll-off position provided by the present invention includes:
[0009] Automatic control overhead cranes are used to receive instructions and control the lifting equipment to perform actions;
[0010] Lifting gear is used to grab and lift objects.
[0011] The position deviation detection system is used to detect the position deviation between the suspended object and the target position.
[0012] Preferred options also include:
[0013] A laser scanner is used to scan the positional deviation between the end face of the suspended object and the target position.
[0014] Preferably, the automatic control crane is capable of performing walking, lifting, and gripping actions.
[0015] A high-precision roll-off control method for dynamically changing target roll-off position provided by the present invention includes:
[0016] Step S1: Bend the laid-out wrapping paper to create creases;
[0017] Step S2: Lift the steel coil to the preset position and obtain position deviation information based on the crease;
[0018] Step S3: Calculate the fitting expression based on the position deviation information;
[0019] Step S4: Control the steel coil to complete its descent based on the fitted expression.
[0020] Preferably, step S2 includes the following sub-steps:
[0021] Step S2.1: The automatic control crane controls the spreader to lift the steel coil above the preset target position, and then lowers the spreader to a certain height and stops.
[0022] Step S2.2: Send the relevant information acquired by the automatic control crane to the position deviation detection system; the relevant information includes positioning information, steel coil width information, and outer sheath width information;
[0023] Step S2.3: Enable the position deviation detection system to receive relevant information and calculate the position deviation information.
[0024] Preferably, step S2.3 includes:
[0025] The position deviation detection system activates the laser scanner to scan and obtain the position deviation and relative height between the steel coil end face and the crease of the packaging paper, and calculates it using the following formula:
[0026] Position deviation information = Steel coil end face position - Packaging paper crease position.
[0027] Preferably, step S3 includes the following sub-steps:
[0028] Step S3.1: The position deviation detection system sends the calculated position deviation information to the control system of the automatic control crane in real time, and the change of the above deviation is regarded as a non-full-cycle sine curve.
[0029] Step S3.2: The control system of the automatic crane calculates the variation law of the position deviation and generates a fitting expression.
[0030] Preferably, step S4 includes the following sub-steps:
[0031] Step S4.1: The control system of the automatic control crane obtains the time when the deviation of the future time period is within the target range based on the fitted expression, the remaining distance, the target time point, and the ramp acceleration curve of the automatic control crane.
[0032] Step S4.2: When the control system of the automatic control crane detects that the swing deviation of the spreader has reached the target range, it controls the spreader to fall at a preset speed, so that the steel coil falls onto the saddle.
[0033] Preferably, a laser scanner is also installed on the other side of the lifting device to calculate the center deviation by scanning the distance between the two end faces of the steel coil and the two creases on the packaging material.
[0034] Compared with the prior art, the present invention has the following beneficial effects:
[0035] 1. This invention utilizes the natural swing of the lifting device to suspend the object at a low position for a period of time, predicts its swing, and controls it to land precisely when the swing reaches a certain deviation, so that the center position deviation is controlled within the process requirements. This changes the original approach of improving absolute control accuracy by increasing the precision of the mechanism, and applies the idea of fitting control to position control, thereby improving the actual landing accuracy.
[0036] 2. This invention solves the problem that there is a large gap between the control accuracy of the automatic control crane in offline packaging operations and the process requirements. It successfully meets the required roll-out control accuracy and has good practicality.
[0037] 3. When there is a large error in the width of the steel coil or the size of the packaging board, a laser scanner can be installed on the other side of the lifting device. The center deviation can be indirectly calculated by scanning the distance between the two end faces of the steel coil and the two creases of the packaging material, which has high flexibility.
[0038] Other beneficial effects of the present invention will be explained in detail through the introduction of specific technical features and technical solutions in specific embodiments. Those skilled in the art should be able to understand the beneficial technical effects brought about by these technical features and technical solutions through the introduction of these technical features and technical solutions. Attached Figure Description
[0039] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:
[0040] Figure 1 This is a system structure diagram of the present invention.
[0041] Figure 2 This is a schematic diagram of the scanning process of the present invention.
[0042] Figure 3 This is a graph showing the change in the swing deviation of the present invention.
[0043] Figure 4 This is a flowchart of the process of the present invention.
[0044] Figure 5 This is a schematic diagram of the packaging material being laid out in an embodiment of the present invention.
[0045] Figure 6 This is a schematic diagram of bending the packaging paper at the edge of the outer packaging plate in an embodiment of the present invention.
[0046] Figure 7 This is a schematic diagram illustrating the calculation of position deviation information in an embodiment of the present invention.
[0047] Explanation of reference numerals in the attached figures
[0048] Automatic control crane 1 saddle 6
[0049] Lifting equipment 2, Packaging paper 7
[0050] Position deviation detection system 3 Laser scanner 8
[0051] Outer panel 4, laser scanner scanning surface 9
[0052] Steel coil 5 Detailed Implementation
[0053] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.
[0054] Reference Figure 1 As shown, a high-precision roll-off control system with dynamic change of target roll-off position includes:
[0055] Automatic control overhead crane 1: It executes the entire operation based on received instructions, including walking, lifting, and gripping actions. Its core control system is generally a PLC.
[0056] Lifting device 2: The actuator that grips the object being lifted. In this scheme, the object being lifted refers to steel coil 5. Lifting device 2 generally uses clamps. If the object being lifted is other materials (such as plates, baskets, etc.), then lifting device 2 will be another type of lifting device 2.
[0057] Position Deviation Detection System 3: Used to detect the position deviation between the suspended object (steel coil 5) and the target position (packaging material). In the offline packaging process, it is required that when the steel coil 5 falls onto the packaging material, the centerline of the steel coil 5 coincides as closely as possible with the centerline of the outer packaging plate 4. Here, the position deviation detection system 3 indirectly calculates the position deviation between the suspended object and the target position by detecting the position deviation of the crease between the suspended object and the packaging material, as described herein. (The crease is shown in the image.) Figure 6 As shown.
[0058] Outer sheath 4: Packaging material wrapped around the outer surface of the steel coil 5 to protect the steel coil 5.
[0059] Saddle 6: Indicates a device for placing and securing rolled objects.
[0060] Packaging paper 7: Packaging material. In the steel coil packaging process 5, rust-proof paper is generally used.
[0061] Laser Scanner 8: Used to scan the positional deviation between the end face of the suspended object (rolled object) and the target position (wrapping paper crease).
[0062] Laser scanner scanning surface 9: The laser scanner scanning surface 9 emitted by the laser scanner 8 covers the end face of rolled objects and the folds of the packaging paper 7.
[0063] Reference Figure 2 and Figure 4 As shown, a high-precision roll-off control method with dynamic change of target roll-off position includes...
[0064] Step S1: As Figure 5 As shown, the packaging worker lays the packaging material flat on the saddle 6, with the rust-proof paper usually on top of the outer packaging plate 4.
[0065] Step S2: As Figure 6 As shown, in one embodiment, the packaging worker bends the outer packaging plate 4 at its edge.
[0066] Step S3: The automatically controlled overhead crane 1, carrying the steel coil 5, travels to above the preset target position and lowers the lifting device 2 to a certain height H before stopping. The calculation process for height H is as follows:
[0067] H = hs + hg + (D / 2 - d / 2) + (d - hc)
[0068] like Figure 2 As shown in the formula above, hs is the ground saddle height, hg is the distance from the bottom of the steel coil 5 to the target saddle, D is the outer diameter of the steel coil, d is the inner diameter of the steel coil, and hc is the thickness of the lifting clamp.
[0069] At the aforementioned height, the distance hg between the bottom of the clamped steel coil 5 and the target saddle 6 is approximately 100mm (test value; distances for other items should be adjusted based on actual site conditions). The closer to the target saddle 6, the better.
[0070] Step S4: The automatic control crane 1 sends the positioning information, the width information of the steel coil 5, and the width information of the outer sheath 4 to the position deviation detection system 3.
[0071] Step S5: After receiving the positioning information, the position deviation detection system 3 starts the laser scanner 8 to scan and obtain the position deviation and relative height between the end face of the steel coil 5 and the crease of the packaging paper 7.
[0072] like Figure 7 As shown, the above positional deviation is calculated as follows:
[0073] Position deviation = Steel coil end face position - Packaging paper crease position.
[0074] Step S6: The position deviation detection system 3 sends the aforementioned position deviation to the control system of the automatic control crane 1 in real time. Since the swing of the lifting device 2 is generally a simple pendulum motion, and since the steel coil 5 obstructs the view of the crease, the change in the aforementioned deviation can be considered as a non-full-period sine curve (e.g., ...). Figure 3 (As shown by the red dot).
[0075] Step S7: The control system of the automatic control crane 1 calculates the position deviation change law and generates an offset curve fitting expression, such as... Figure 3 As shown by the black line.
[0076] Step S8: The control system of the automatic crane 1, based on the fitting expression from the previous step, and considering the remaining distance hg (mm), the target time point t (ms), and the ramp acceleration curve a (mm / s) of the automatic crane 1,... 2 (Determined by the physical properties of the crane motor), according to the formula
[0077] t0 = sqrt(2hg / a) + t
[0078] Obtain the time (t0) within the target range during the future time period. Here, because the remaining distance hg is short and the set descent speed is relatively high, there will be no situation where the descent speed reaches the set value but the roll has not yet reached its destination. Assume the target roll landing position deviation is ±20mm. Therefore, it is necessary to iterate through and calculate the time period within ±20mm of the position where the deviation is 0, i.e. Figure 3 The time period in which the solid blue line intersects the fitted black curve.
[0079] Step S9: When the control system of the automatic control crane 1 detects that the swing deviation has reached the above target range, the lifting device 2 is started to fall, and the steel coil 5 is controlled to fall to the saddle 6 at the preset speed. The target speed here can be freely configured, and the falling acceleration is determined by the physical performance of the motor itself. After the above two items are input as configuration items and combined with the curve formula, the falling time parameter can be calculated to ensure that there is no positional deviation between the end face of the steel coil 5 and the edge of the packaging material.
[0080] If the width of the aforementioned steel coil 5 deviates significantly from the dimensions of the packaging board, a laser scanner 8 can be installed on the other side of the ground saddle 6 to indirectly calculate the center deviation by scanning the distance between the two end faces of the steel coil 5 and the two creases on the packaging material.
[0081] Those skilled in the art will understand that, besides implementing the system and its various devices, modules, and units provided by this invention in the form of purely computer-readable program code, the same functions can be achieved entirely through logical programming of the method steps, making the system and its various devices, modules, and units of this invention function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, the system and its various devices, modules, and units provided by this invention can be considered as a hardware component, and the devices, modules, and units included therein for implementing various functions can also be considered as structures within the hardware component; alternatively, the devices, modules, and units for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.
[0082] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.
Claims
1. A high-precision roll-off control system with dynamically changing target roll-off position, characterized in that, include: An automatic control crane (1) is used to receive instructions and control the lifting device (2) to perform actions; Lifting device (2), used to grab the object being lifted; The position deviation detection system (3) is used to detect the position deviation between the suspended object and the target position.
2. The high-precision roll-off control system with dynamic change of target roll-off position according to claim 1, characterized in that, Also includes: A laser scanner (8) is used to scan the positional deviation between the end face of the suspended object and the target position.
3. The high-precision roll-off control system with dynamic change of target roll-off position according to claim 1, characterized in that, The automatic control crane (1) is capable of performing walking, lifting and clamping actions.
4. A high-precision roll-off control method with dynamically changing target roll-off position, employing the high-precision roll-off control system with dynamically changing target roll-off position as described in any one of claims 1-3, characterized in that, include: Step S1: Bend the laid-out wrapping paper (7) to form creases; Step S2: Lift the steel coil (5) to the preset position and obtain position deviation information based on the crease; Step S3: Calculate the fitting expression based on the position deviation information; Step S4: Control the steel coil (5) to complete the descent based on the fitted expression.
5. The high-precision roll-off control method for dynamically changing the target roll-off position according to claim 4, characterized in that, Step S1 includes the following sub-steps: Step S1.1: Place the outer packaging board (4) on the saddle (6) and lay the packaging paper (7) flat on the outer packaging board (4); Step S1.2: Bend the wrapping paper (7) at the edge of the outer wrapping board (4) to form a crease.
6. The high-precision roll-off control method for dynamically changing the target roll-off position according to claim 5, characterized in that, Step S2 includes the following sub-steps: Step S2.1: The automatic control crane (1) controls the lifting device (2) to lift the steel coil (5) above the preset target position, and then lowers the lifting device (2) to a certain height and stops. Step S2.2: Send the relevant information obtained by the automatic control crane (1) to the position deviation detection system (3); the relevant information includes positioning information, steel coil width information and outer sheath plate width information; Step S2.3: The position deviation detection system (3) receives relevant information and calculates the position deviation information.
7. The high-precision roll-off control method for dynamically changing the target roll-off position according to claim 6, characterized in that, Step S2.3 includes: The position deviation detection system (3) starts the laser scanner (8) to scan and obtain the position deviation and relative height between the end face of the steel coil (5) and the crease of the packaging paper (7), and calculates it using the following formula: Position deviation information = Steel coil end face position - Packaging paper crease position.
8. The high-precision roll-off control method for dynamically changing the target roll-off position according to claim 6, characterized in that, Step S3 includes the following sub-steps: Step S3.1: The position deviation detection system (3) sends the calculated position deviation information to the control system of the automatic control crane (1) in real time, and regards the change of the above deviation as a non-full-cycle sine curve; Step S3.2: The control system of the automatic control crane (1) calculates the change law of position deviation and generates a fitting expression.
9. The high-precision roll-off control method for dynamically changing the target roll-off position according to claim 8, characterized in that, Step S4 includes the following sub-steps: Step S4.1: The control system of the automatic control crane (1) obtains the time when the deviation of the future time period is within the target range based on the fitted expression, the remaining distance, the target time point and the ramp acceleration curve of the automatic control crane (1); Step S4.2: When the control system of the automatic control crane (1) detects that the swing deviation of the lifting device (2) has reached the target range, it controls the lifting device (2) to fall at a preset speed, so that the steel coil (5) falls to the saddle (6).
10. The high-precision roll-off control method for dynamically changing the target roll-off position according to claim 4, characterized in that, A laser scanner (8) is also installed on the other side of the saddle (6) to calculate the center deviation by scanning the distance between the two end faces of the steel coil (5) and the two creases of the packaging material.