A steel coil lap joint precision control method, system and device of a steel coil laying trolley, electronic equipment, storage medium and program product

Abstract

The embodiment of the application provides a steel coil lap joint precision control method, system and device of a steel coil laying trolley, electronic equipment, a storage medium and a program product, and relates to the technical field of tunnel construction equipment. The method uses a laser sensor to realize real-time sensing of the relative position of the trolley and the tunnel wall surface, and adjusts the position of the trolley to make it centered in the tunnel, thereby ensuring the accuracy of the initial positioning. Subsequently, the contact state of the compression roller device and the tunnel wall surface is used to accurately calibrate the coincidence of the trolley axis and the tunnel axis, thereby establishing a stable reference for subsequent laying. After the steel coil is loaded, the line formed by the laser beam on the tunnel wall surface is compared with the preset line in real time, and once the deviation exceeds the allowed range, the steel coil suspension device is immediately adjusted dynamically, thereby effectively compensating for complex deviations caused by factors such as tunnel contour fluctuation, trolley walking deviation or material deformation, and improving the steel coil lap joint precision of the steel coil laying trolley.

Description

Technical Field

[0001] This application relates to the field of tunnel construction equipment technology, and in particular to a method, system, device, electronic equipment, storage medium and program product for controlling the overlap accuracy of steel coils on a steel coil laying trolley. Background Technology

[0002] Controlling the overlap precision of steel coils on a steel coil laying trolley refers to the process of adjusting the position and orientation of the trolley during tunnel construction to ensure that the overlap positions of adjacent steel coils meet preset precision standards during circumferential laying. As a core component of the lining structure, the quality of the circumferential overlap of the steel coils directly determines the overall structural performance of the tunnel. Insufficient overlap precision can easily lead to risks such as leakage and reduced structural load-bearing capacity. Therefore, the precision of the circumferential overlap of the steel coils determines the tunnel's anti-leakage effect and long-term operational safety, and is a crucial link in ensuring the quality of tunnel engineering.

[0003] In the existing technology, the trolley travels along a preset track, and the coil fixing rod is equipped with a threaded structure. The overlap width adjustment mechanism consists of an adjusting nut and a fixing pin. By rotating the adjusting nut, the coil shaft moves axially along the fixing rod to adjust the overlap width of adjacent steel coils. After the width parameter is confirmed, the fixing pin locks the position of the adjusting nut to prevent loosening. Based on the coordination of the trolley axis and the tunnel axis, the overlap accuracy of the steel coils is controlled by the rigid adjustment of the mechanical structure.

[0004] However, existing technologies suffer from low coil overlap accuracy in steel coil laying trolleys. This problem mainly stems from the fact that the control method relies on the premise that the trolley axis and the tunnel axis maintain a preset spatial pose match, and only performs limited static compensation for the coil position through end-effector mechanical adjustment, which cannot cope with complex deviations caused by multiple factors such as actual tunnel contour fluctuations, dynamic offsets during trolley movement, and material deformation. Summary of the Invention

[0005] This application provides a method, system, device, electronic equipment, storage medium, and program product for controlling the overlap accuracy of steel coils on a steel coil laying trolley, in order to solve the problem of low overlap accuracy of steel coils on existing steel coil laying trolleys.

[0006] In a first aspect, embodiments of this application provide a method for controlling the overlap accuracy of a steel coil laying trolley, applied to a controller of a steel coil overlap accuracy control system for the steel coil laying trolley. The steel coil overlap accuracy control system for the steel coil laying trolley further includes a trolley, a working boom deployed on the trolley, a traveling mechanism, multiple laser emitting devices, and a pressing roller device and a steel coil suspension device deployed on the working boom. The method includes:

[0007] Multiple distances are acquired, and the preset trolley position is adjusted according to the multiple distances and preset trolley position adjustment rules so that the trolley is centered in the preset tunnel; wherein, the multiple distances refer to the distance between the laser sensor on the working boom and the preset tunnel wall when the working boom is in multiple preset states;

[0008] In response to the trolley being centered in the tunnel, the working boom is adjusted to a first state, and the position of the traveling mechanism is adjusted according to a preset traveling mechanism adjustment rule so that the axis of the trolley coincides with the preset tunnel axis; wherein, the first state refers to the state in which the first telescopic arm and the second telescopic arm of the pressing roller device extend out to a preset length, and the first telescopic arm is in contact with the tunnel wall.

[0009] In response to the steel coil being loaded onto the steel coil suspension device and the axis of the trolley being aligned with the tunnel axis, multiple laser beam lines are acquired; wherein each laser beam line is a line formed on the tunnel wall by a laser beam emitted by each laser emitting device, and the laser beam lines are parallel to each other.

[0010] In response to a deviation between each laser beam line and a preset marking on the tunnel wall exceeding a preset deviation threshold, the steel coil suspension device is adjusted according to a preset deviation adjustment rule to make the deviation less than or equal to the deviation threshold.

[0011] In one possible design, the multiple states include a second state and a third state, and the multiple distances include a first distance, a second distance, a third distance, and a fourth distance. The step of acquiring the multiple distances and adjusting the preset trolley position according to the multiple distances and a preset trolley position adjustment rule to center the trolley in a preset tunnel includes:

[0012] The boom is adjusted to the second state, and the first distance between the first laser sensor on the boom and the tunnel wall and the second distance between the second laser sensor on the boom and the tunnel wall are obtained. The second state refers to the state in which the boom is parallel to the preset trolley travel plane, and the first laser sensor and the second laser sensor are respectively set at both ends of the boom.

[0013] The working boom is adjusted to the third state, and the third distance between the laser sensor on the working boom and the tunnel wall is obtained at this time; wherein, the third state refers to the state in which the working boom is perpendicular to the traveling plane of the trolley;

[0014] The working boom is rotated by a preset angle to obtain the fourth distance between the laser sensor on the working boom and the tunnel wall at this time;

[0015] In response to a first difference between the first distance and the second distance being greater than a preset first threshold, or a second difference between the third distance and the fourth distance being greater than a preset second threshold, the position of the trolley is adjusted according to the trolley position adjustment rule so that the first difference is less than or equal to the first threshold, and the second difference is less than or equal to the second threshold; wherein, the first difference being less than or equal to the first threshold and the second difference being less than or equal to the second threshold is used to indicate that the trolley is centered in the tunnel.

[0016] In one possible design, adjusting the boom to a first state and adjusting the position of the traveling mechanism according to a preset traveling mechanism adjustment rule to make the axis of the trolley coincide with the preset tunnel axis includes:

[0017] Adjust the working boom to the first state and obtain the fifth distance between the second telescopic arm of the pressure roller device on the working boom and the tunnel wall.

[0018] In response to the fifth distance not being equal to a preset third threshold, the position of the traveling mechanism is adjusted according to the traveling mechanism adjustment rules so that the fifth distance is equal to the third threshold; wherein, the fifth distance being equal to the third threshold is used to indicate that the axis of the trolley coincides with the axis of the tunnel.

[0019] In one possible design, the plurality of laser emitting devices includes a first laser emitting device and a second laser emitting device, the plurality of laser beam lines includes a first line and a second line, the steel coil includes a first end face and a second end face, and the acquisition of the plurality of laser beam lines includes:

[0020] The laser beam emitted by the first laser emitting device is aligned with the first end face of the steel coil to obtain the first line formed by the first laser beam on the tunnel wall.

[0021] The laser beam emitted by the second laser emitting device is aligned with the second end face of the steel coil to obtain the second line formed by the second laser beam on the tunnel wall.

[0022] In one possible design, the marking includes a first marking and a second marking. The adjustment of the steel coil suspension device according to a preset deviation adjustment rule, in response to a deviation between each laser beam line and a preset marking on the tunnel wall exceeding a preset deviation threshold, to make the deviation less than or equal to the deviation threshold, includes:

[0023] In response to a first deviation between the first line and the first scribing being greater than the deviation threshold, or a second deviation between the second line and the second scribing being greater than the deviation threshold, the steel coil suspension device is adjusted according to the deviation adjustment rule so that the first deviation is less than or equal to the deviation threshold, and the second deviation is less than or equal to the deviation threshold.

[0024] In one possible design, adjusting the steel coil suspension device according to the deviation adjustment rule to make the first deviation less than or equal to the deviation threshold, while the second deviation is less than or equal to the deviation threshold, includes:

[0025] Based on the first deviation and the second deviation, the correction direction and correction amplitude of the steel coil suspension device are determined; wherein, the correction direction refers to the direction in which the position of the steel coil suspension device is adjusted so that both the first deviation and the second deviation are less than or equal to the deviation threshold, and the correction amplitude refers to the displacement distance in which the position of the steel coil suspension device is adjusted so that both the first deviation and the second deviation are less than or equal to the deviation threshold.

[0026] Based on the correction direction and the correction amplitude, multiple correction tasks are generated;

[0027] In response to the completion of each of the aforementioned correction tasks, a third deviation and a fourth deviation are obtained; wherein, the third deviation refers to the deviation between the first line and the first scribing line after the completion of each of the aforementioned correction tasks, and the fourth deviation refers to the deviation between the second line and the second scribing line after the completion of each of the aforementioned correction tasks.

[0028] In response to the third deviation being less than or equal to the deviation threshold, and the fourth deviation being less than or equal to the deviation threshold, the execution of each of the correction tasks is stopped.

[0029] Secondly, this application provides a steel coil overlap accuracy control system for a steel coil laying trolley. The system includes a trolley, a working boom deployed on the trolley, a traveling mechanism, multiple laser emitting devices, and a pressing roller device and a steel coil suspension device deployed on the working boom.

[0030] The controller is used to execute the method for controlling the overlap accuracy of the steel coil laying trolley as described in the first aspect.

[0031] The trolley is used to carry the controller, the working arm, the traveling mechanism, and the multiple laser emitting devices;

[0032] The working boom is used to support the pressing roller device and the steel coil suspension device;

[0033] The clamping roller device is used to clamp the steel coil during the laying of the steel coil;

[0034] The traveling mechanism is used to move within the tunnel to achieve the positional movement of the trolley;

[0035] The steel coil suspension device is used to load the steel coil;

[0036] The plurality of laser emitting devices are used to emit laser beams to the tunnel wall to form a plurality of laser beam lines on the tunnel wall.

[0037] Thirdly, embodiments of this application provide a steel coil overlap accuracy control device for a steel coil laying trolley, applied to a controller of a steel coil overlap accuracy control system for the steel coil laying trolley. The steel coil overlap accuracy control system for the steel coil laying trolley further includes a trolley, a working boom deployed on the trolley, a traveling mechanism, multiple laser emitting devices, and a pressing roller device and a steel coil suspension device deployed on the working boom. The device includes:

[0038] The first adjustment module is used to acquire multiple distances and adjust the preset trolley position according to the multiple distances and the preset trolley position adjustment rules so that the trolley is centered in the preset tunnel; wherein, the multiple distances refer to the distance between the laser sensor on the working boom and the preset tunnel wall when the working boom is in multiple preset states.

[0039] The second adjustment module is used to adjust the working boom to a first state in response to the trolley being centered in the tunnel, and to adjust the position of the traveling mechanism according to a preset traveling mechanism adjustment rule so that the axis of the trolley coincides with the preset tunnel axis; wherein, the first state refers to the state in which the first telescopic arm and the second telescopic arm of the pressing roller device extend out to a preset length, and the first telescopic arm is in contact with the tunnel wall.

[0040] The first acquisition module is used to acquire multiple laser beam lines in response to the fact that the steel coil has been loaded onto the steel coil suspension device and the axis of the trolley has been aligned with the axis of the tunnel; wherein each laser beam line is a line formed on the tunnel wall by the laser beam emitted by each laser emitting device, and the laser beam lines are parallel to each other.

[0041] The third adjustment module is used to adjust the steel coil suspension device according to a preset deviation adjustment rule in response to a deviation between each laser beam line and a preset scribing line on the tunnel wall exceeding a preset deviation threshold, so that the deviation is less than or equal to the deviation threshold.

[0042] In one possible design, the plurality of states includes a second state and a third state, the plurality of distances includes a first distance, a second distance, a third distance, and a fourth distance, and the first adjustment module includes:

[0043] The first acquisition unit is used to adjust the working boom to the second state and acquire the first distance between the first laser sensor on the working boom and the tunnel wall, and the second distance between the second laser sensor on the working boom and the tunnel wall; wherein, the second state refers to the state in which the working boom is parallel to a preset trolley traveling plane, and the first laser sensor and the second laser sensor are respectively disposed at both ends of the working boom;

[0044] The third acquisition unit is used to adjust the working boom to the third state and acquire the third distance between the laser sensor on the working boom and the tunnel wall at this time; wherein, the third state refers to the state in which the working boom is perpendicular to the traveling plane of the trolley;

[0045] The fourth acquisition unit is used to rotate the working boom by a preset angle to acquire the fourth distance between the laser sensor on the working boom and the tunnel wall at this time;

[0046] The first adjustment unit is configured to adjust the position of the trolley according to the trolley position adjustment rule in response to a first difference between the first distance and the second distance being greater than a preset first threshold, or a second difference between the third distance and the fourth distance being greater than a preset second threshold, so that the first difference is less than or equal to the first threshold, and the second difference is less than or equal to the second threshold; wherein, the first difference being less than or equal to the first threshold and the second difference being less than or equal to the second threshold is used to indicate that the trolley is centered in the tunnel.

[0047] In one possible design, the second adjustment module includes:

[0048] The fifth acquisition unit is used to adjust the working boom to the first state and acquire the fifth distance between the second telescopic arm of the pressing roller device on the working boom and the tunnel wall.

[0049] The second adjustment unit is used to adjust the position of the traveling mechanism according to the traveling mechanism adjustment rules in response to the fifth distance not being equal to the preset third threshold, so that the fifth distance is equal to the third threshold; wherein, the fifth distance being equal to the third threshold is used to indicate that the axis of the trolley coincides with the axis of the tunnel.

[0050] In one possible design, the plurality of laser emitting devices includes a first laser emitting device and a second laser emitting device, the plurality of laser beam lines include a first line and a second line, the steel coil includes a first end face and a second end face, and the first acquisition module includes:

[0051] The first alignment unit is used to align the laser beam emitted by the first laser emitting device with the first end face of the steel coil to obtain the first line formed by the first laser beam on the tunnel wall.

[0052] The second alignment unit is used to align the laser beam emitted by the second laser emitting device with the second end face of the steel coil to obtain the second line formed by the second laser beam on the tunnel wall.

[0053] In one possible design, the scribing line includes a first scribing line and a second scribing line, and the third adjustment module includes:

[0054] The third adjustment unit is configured to adjust the steel coil suspension device according to the deviation adjustment rule in response to a first deviation between the first line and the first scribing being greater than the deviation threshold, or a second deviation between the second line and the second scribing being greater than the deviation threshold, so that the first deviation is less than or equal to the deviation threshold, and the second deviation is less than or equal to the deviation threshold.

[0055] In one possible design, the third adjustment unit includes:

[0056] A determining component is used to determine the correction direction and correction amplitude of the steel coil suspension device based on the first deviation and the second deviation; wherein, the correction direction refers to the direction in which the position of the steel coil suspension device is adjusted so that both the first deviation and the second deviation are less than or equal to the deviation threshold, and the correction amplitude refers to the displacement distance in which the position of the steel coil suspension device is adjusted so that both the first deviation and the second deviation are less than or equal to the deviation threshold;

[0057] A task generation component is used to generate multiple correction tasks based on the correction direction and the correction amplitude.

[0058] A component is acquired to acquire a third deviation and a fourth deviation in response to the completion of each of the aforementioned correction tasks; wherein the third deviation refers to the deviation between the first line and the first scribing line after the completion of each of the aforementioned correction tasks, and the fourth deviation refers to the deviation between the second line and the second scribing line after the completion of each of the aforementioned correction tasks.

[0059] A task stopping component is used to stop executing each of the correction tasks in response to the third deviation being less than or equal to the deviation threshold, and the fourth deviation being less than or equal to the deviation threshold.

[0060] Fourthly, this application provides an electronic device, including: a processor, and a memory communicatively connected to the processor;

[0061] The memory stores computer-executed instructions;

[0062] When the processor executes the computer execution instructions stored in the memory, it is used to implement the method for controlling the overlap accuracy of the steel coil laying trolley as described in any of the first aspects.

[0063] Fifthly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the method for controlling the overlap accuracy of steel coils on a steel coil laying trolley as described in any of the first aspects.

[0064] Sixthly, this application provides a computer program product, including a computer program, which, when executed by a processor, is used to implement the method for controlling the overlap accuracy of steel coils on a steel coil laying trolley as described in any of the first aspects.

[0065] This application provides a method, system, device, electronic equipment, storage medium, and program product for controlling the overlap accuracy of steel coils on a steel coil laying trolley. First, a laser sensor is used to perceive the relative position of the trolley and the tunnel wall in real time. By adjusting the trolley's position to center it within the tunnel, the accuracy of the initial positioning is ensured. Subsequently, the contact state between the clamping roller device and the tunnel wall is used to precisely calibrate the alignment of the trolley's axis with the tunnel axis, establishing a stable benchmark for subsequent laying. After the steel coil is loaded, the lines formed on the tunnel wall by the laser beam are compared in real time with preset markings. If a deviation exceeds the allowable range, the steel coil suspension device is immediately dynamically adjusted. This effectively compensates for complex deviations caused by factors such as tunnel contour fluctuations, trolley travel offset, or material deformation, thereby improving the overlap accuracy of the steel coil laying trolley. Attached Figure Description

[0066] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0067] Figure 1 A schematic diagram illustrating an application scenario of the method for controlling the overlap accuracy of steel coils using a steel coil laying trolley provided in this embodiment of the application.

[0068] Figure 2A flowchart illustrating the method for controlling the overlap accuracy of steel coils using a steel coil laying trolley provided in this application embodiment;

[0069] Figure 3 A schematic diagram of the structure of the steel coil laying trolley provided in the embodiments of this application;

[0070] Figure 4 A schematic diagram of the working boom and end-effector of the steel coil laying trolley provided in the embodiments of this application;

[0071] Figure 5 This is a schematic diagram showing the installation position of the laser sensor on the steel coil laying trolley provided in an embodiment of this application.

[0072] Figure 6 A schematic diagram of the installation position of the laser emitter for the steel coil laying trolley slab ring provided in this embodiment of the application;

[0073] Figure 7 A schematic diagram showing the structure and location of the hydraulic cylinder for correcting the deviation of the steel coil laying trolley provided in this application embodiment;

[0074] Figure 8 A schematic diagram of the steel coil overlap accuracy control device of the steel coil laying trolley provided in the embodiments of this application;

[0075] Figure 9 This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this application.

[0076] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0077] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0078] In the embodiments of this application, the terms "first" and "second" are used to distinguish identical or similar items with substantially the same function and effect. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and that "first" and "second" do not necessarily imply difference. It should be noted that in the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design scheme described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner. In the embodiments of this application, "at least one" refers to one or more, and "more than one" refers to two or more.

[0079] It should be noted that the phrase "at...time" in the embodiments of this application can refer to the instant at which a certain situation occurs, or to a period of time after the occurrence of a certain situation; the embodiments of this application do not specifically limit this. Furthermore, the method, system, device, electronic equipment, storage medium, and program product for controlling the overlap accuracy of a steel coil laying trolley provided in the embodiments of this application are merely examples; such a method, system, device, electronic equipment, storage medium, and program product may also include more or fewer elements.

[0080] To facilitate a clear description of the technical solutions in the embodiments of this application, some terms and technologies involved in the embodiments of this application will be briefly introduced below:

[0081] The pressure roller device is an auxiliary positioning and stabilization device deployed on the working arm of the mobile trolley. It is usually equipped with a telescopic arm and roller structure. Its function is to extend the telescopic arm and contact the construction reference surface to help adjust the spatial posture of the trolley to keep it aligned with the construction axis. At the same time, it can apply appropriate pressure to the roll material during the steel roll laying process to ensure that the roll material adheres to the construction surface. It has both positioning and guiding functions and pressure transmission functions, providing support for the stability of equipment movement and the accuracy of roll material laying.

[0082] Steel coil suspension system: This is a core auxiliary device used for carrying and transferring steel coils. It typically consists of a rigid suspension frame, clamping components or support structures adapted to different steel coil specifications, and some systems also integrate height adjustment and leveling fine-tuning modules to accommodate steel coils of varying diameters, widths, and weights. The function of this system is to stably lift or support steel coils, enabling efficient transfer of steel coils on the production line or construction site.

[0083] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.

[0084] The technical solution of the present invention will be described in detail below with reference to specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of the present invention will now be described with reference to the accompanying drawings.

[0085] To clearly understand the technical solution of this application, the solutions of the prior art will first be described in detail. As the core component of the lining structure, the quality of the circumferential overlap of the steel coil directly determines the overall structural performance of the tunnel. Insufficient overlap precision can easily lead to risks such as leakage and reduced structural load-bearing capacity. Therefore, the precision of the circumferential overlap of the steel coil determines the anti-leakage effect and long-term operational safety of the tunnel, and is a key link in ensuring the quality of tunnel engineering.

[0086] In existing technologies, the trolley travels along a preset track, and a threaded structure is installed on the coil fixing rod. An overlap width adjustment mechanism, consisting of an adjusting nut and a fixing pin, adjusts the overlap width of adjacent steel coils by rotating the adjusting nut to move the coil spool axially along the fixing rod. After the width parameter is confirmed, the fixing pin locks the adjusting nut to prevent loosening. Based on the coordination of the trolley axis and the tunnel axis, the rigid adjustment of the mechanical structure controls the overlap accuracy of the steel coils. However, existing technologies rely on the premise that the trolley axis and the tunnel axis maintain a preset spatial orientation match, and only provide limited static compensation for the spool position through end-effector mechanical adjustment. This cannot cope with complex deviations caused by factors such as actual tunnel contour fluctuations, dynamic offsets during trolley movement, and material deformation. Therefore, existing technologies suffer from low overlap accuracy in steel coil laying trolleys.

[0087] Therefore, addressing the issue of low coil overlap accuracy in existing steel coil laying trolleys, the research found that to solve this problem, a closed-loop control system can be constructed to compensate for complex deviations caused by multiple factors. This system can dynamically sense the relative position of the steel coil laying trolley and the tunnel, calibrate the trolley's positioning and axis alignment in real time, monitor relevant deviations in steel coil laying, and adaptively adjust the steel coil suspension device accordingly. ① It can integrate sensing methods capable of capturing the relative position of the trolley and the tunnel, the trolley's own posture, and the contact status of key components, constructing a comprehensive state perception system. Based on the sensed real-time information, the trolley's position within the tunnel can be adjusted, and the alignment of the trolley's axis with the tunnel axis can be calibrated, eliminating errors from the initial positioning and benchmark establishment stages. ② It can establish a full-process deviation monitoring mechanism covering steel coil loading, trolley movement, and steel coil laying, capturing deviations caused by factors such as tunnel contour fluctuations, trolley movement offsets, and material deformation in real time. The monitored deviation information can be linked with preset adjustment rules to trigger adaptive adjustments of the steel coil suspension device, working boom, and other actuators. ③ It can construct information interaction and collaborative control logic between various subsystems. When a subsystem detects a deviation, it not only adjusts its own state but also simultaneously transmits information to related subsystems to ensure that the actions of each component match and avoid new deviations caused by adjustments in a single system.

[0088] Specifically, a multi-dimensional dynamic sensing system covering the relative position of the trolley and the tunnel, as well as the steel coil laying status, can be constructed. First, based on the sensing information, the trolley's centering position in the tunnel and the alignment of the trolley axis with the tunnel axis can be calibrated in real time to establish a precise laying benchmark. Then, the deviation caused by tunnel contour fluctuations, trolley travel deviations, or material deformation during the steel coil laying process can be continuously monitored. The steel coil suspension device, working boom, and other actuators can be linked synchronously to make adaptive adjustments based on the deviation, forming a closed-loop control of sensing-calibration-adjustment-compensation to improve the steel coil overlapping accuracy.

[0089] This application discloses a method, system, device, electronic equipment, storage medium, and program product for controlling the overlap accuracy of steel coils on a steel coil laying trolley. First, a laser sensor is used to perceive the relative position of the trolley and the tunnel wall in real time. The trolley's position is adjusted to be centered within the tunnel, ensuring accurate initial positioning. Subsequently, the contact state between the clamping roller device and the tunnel wall is used to precisely calibrate the alignment of the trolley's axis with the tunnel axis, establishing a stable benchmark for subsequent laying. After the steel coil is loaded, the lines formed on the tunnel wall by the laser beam are compared in real time with preset markings. If a deviation exceeds the allowable range, the steel coil suspension device is dynamically adjusted immediately. This effectively compensates for complex deviations caused by tunnel contour fluctuations, trolley travel offset, or material deformation, improving the overlap accuracy of the steel coil laying trolley.

[0090] Based on the above-mentioned inventive discovery, the technical solution of this application is proposed.

[0091] The following describes the application scenarios of the steel coil overlap accuracy control method of the steel coil laying trolley provided in the embodiments of the present invention. Figure 1 This is a schematic diagram illustrating an application scenario of the method for controlling the overlap accuracy of steel coils using a steel coil laying trolley provided in this application embodiment. For example... Figure 1 As shown, this application scenario includes a mobile terminal 101 and a controller 102. The mobile terminal 101 collects multiple distances and sends them to the controller 102. The controller 102 acquires the multiple distances and adjusts the preset trolley position according to the multiple distances and preset trolley position adjustment rules to center the trolley in the preset tunnel. In response to the trolley being centered in the tunnel, the controller 102 adjusts the working boom to the first state and adjusts the position of the traveling mechanism according to preset traveling mechanism adjustment rules to make the trolley axis coincide with the preset tunnel axis. In response to the steel coil being loaded onto the steel coil suspension device and the trolley axis coinciding with the tunnel axis, the controller 102 acquires multiple laser beam lines. In response to the deviation between each laser beam line and a preset marking on the tunnel wall being greater than a preset deviation threshold, the controller 102 adjusts the steel coil suspension device according to preset deviation adjustment rules to make the deviation less than or equal to the deviation threshold.

[0092] The embodiments of the present invention will now be described with reference to the accompanying drawings.

[0093] Figure 2 This is a flowchart illustrating the method for controlling the overlap accuracy of steel coils using a steel coil laying trolley provided in this embodiment of the application. Figure 2 As shown, in this embodiment, the execution subject of this invention is a controller. Therefore, the method for controlling the overlap accuracy of the steel coil laying trolley provided in this embodiment includes the following steps:

[0094] S201. Obtain multiple distances and adjust the preset trolley position according to the multiple distances and the preset trolley position adjustment rules so that the trolley is centered in the preset tunnel; wherein, the multiple distances refer to the distance between the laser sensor on the boom and the preset tunnel wall when the boom is in multiple preset states.

[0095] Specifically, by switching the boom to different preset postures, laser sensors mounted on it measure the distances to the tunnel's side walls. These distance data are then analyzed and, combined with preset trolley position adjustment rules, the traveling mechanism is driven to adjust the trolley's lateral position within the tunnel until the distances between the trolley's sides and the tunnel walls are balanced, thus centering the trolley within the tunnel. This step provides precise initial spatial positioning for subsequent axis alignment and steel coil laying, reducing subsequent overlapping errors caused by initial trolley offset.

[0096] The laser sensor can be installed at the end of the boom to control the boom to rotate to a horizontal or vertical position, and to measure the distance between the end of the boom and the tunnel wall in the horizontal and vertical directions.

[0097] S202. In response to the trolley being centered in the tunnel, the working boom is adjusted to the first state, and the position of the traveling mechanism is adjusted according to the preset traveling mechanism adjustment rules so that the axis of the trolley coincides with the preset tunnel axis; wherein, the first state refers to the state in which the first telescopic arm and the second telescopic arm of the pressing roller device extend to a preset length, and the first telescopic arm is in contact with the tunnel wall.

[0098] Specifically, the working boom can be adjusted to its first state by controlling the first and second telescopic arms of the clamping roller device to extend to the same length, while simultaneously ensuring that the first telescopic arm contacts the tunnel wall. Then, based on preset adjustment rules for the traveling mechanism and the feedback from the contact between the first telescopic arm and the tunnel wall, the traveling mechanism is driven to make fine-tuning adjustments, ensuring that the axis of the trolley coincides with the tunnel axis. This step establishes a precise axial reference between the trolley and the tunnel, providing stable spatial guidance for controlling the overlap accuracy during subsequent steel coil laying and reducing overlap deviations caused by axial offset of the trolley.

[0099] The working boom consists of two symmetrically mounted booms on either side of the chassis beam, driven by a slewing support and a hydraulic motor, enabling approximately 280-degree rotation. Its rotation center axis is defined as the center axis of the steel coil laying trolley. At the end of the boom are mounted a steel coil suspension device, a clamping roller device, a basket assembly, and a grinding device. The clamping roller device is used to clamp the steel coil during laying, ensuring it conforms to the wall surface. It includes a telescopic boom and the clamping roller at the end. At least one alignment cylinder is mounted on this device. The alignment cylinder drives the roller support to generate lateral displacement, thereby fine-tuning the clamping point position and influencing the steel coil laying trajectory. The controllability and consistency of the telescopic boom's extension length are fundamental to the mechanical positioning process. The traveling mechanism, with forward, backward, lifting, and lateral movement functions, is driven by a hydraulic system and controlled by an electrical system for overall machine movement.

[0100] S203. In response to the steel coil being loaded onto the steel coil suspension device and the trolley axis being aligned with the tunnel axis, multiple laser beam lines are acquired; wherein each laser beam line is a line formed on the tunnel wall by the laser beam emitted by each laser emitting device, and the laser beam lines are parallel to each other.

[0101] Specifically, after the steel coil is loaded onto the steel coil suspension device and the trolley's axis is aligned with the tunnel axis, multiple laser emitting devices are activated, projecting their laser beams onto the tunnel wall to obtain multiple parallel lines formed by these laser beams on the wall. This step provides a visual reference for subsequent detection of steel coil laying position deviations. By comparing these laser beam lines with pre-marked lines on the tunnel wall, it is possible to visually determine whether the current position of the steel coil meets the laying requirements, laying the foundation for precise adjustment of the steel coil suspension device.

[0102] The steel coil suspension device is used to suspend the steel coil material and is typically driven by a hydraulic cylinder to achieve forward and backward extension. At least one alignment cylinder is installed on this device. This alignment cylinder can be arranged perpendicular to the laying direction and is used to drive the entire steel coil to produce lateral displacement, finely adjusting the lateral position of the released steel coil.

[0103] S204. In response to the deviation between each laser beam line and the preset scribing line on the tunnel wall being greater than the preset deviation threshold, the steel coil suspension device is adjusted according to the preset deviation adjustment rules so that the deviation is less than or equal to the deviation threshold.

[0104] Specifically, the direction and degree of deviation between each laser beam line and the preset markings on the tunnel wall can be identified first. Then, according to the preset deviation adjustment rules, the actuator of the steel coil suspension device is driven to move. By adjusting the spatial position or angle of the steel coil suspension device, the deviation is gradually corrected. During the adjustment process, the relative position of the laser beam lines and the preset markings is monitored in real time until the deviation is less than or equal to a preset threshold. This step is used to dynamically compensate for positional deviations caused by factors such as tunnel contour fluctuations, trolley travel deviations, or material deformation during steel coil laying, ensuring that the steel coil is always in the required laying position, providing direct assurance for the subsequent precise overlapping of the steel coils.

[0105] For example, if the actual deviation is less than or equal to a set threshold, no active correction is performed during the steel coil laying process. If the actual deviation is greater than the set threshold, the correction cylinder is activated based on the magnitude and direction of the actual deviation during the steel coil laying process. The action of the correction cylinder drives the steel coil suspension device and the clamping roller device to produce minute displacements, dynamically adjusting the position and attitude of the released steel coil. Through real-time correction, the laying deviation caused by residual deviation of the trolley axis or other factors is offset, ensuring that the steel coil laying position meets the overlap accuracy requirements. Furthermore, real-time correction is a continuous process. During the entire circumferential rotation of the steel coil laying process, the correction cylinder is continuously or in stages adjusted according to the preset control algorithm or operator observation, so that the actual laying trajectory gradually approaches the ideal marked position.

[0106] The controller is connected to the laser sensor, the circumferential laser emitting device, and the correction cylinder control valve. The controller can receive sensor data such as laser ranging data, circumferential laser projection position data, or manually input deviation judgments, and execute or assist in executing the steps of the aforementioned control method. It may include a human-machine interface for the operator to input thresholds, observe prediction results, and manually trigger adjustments or corrections.

[0107] This embodiment provides a method for controlling the overlap accuracy of steel coils on a steel coil laying trolley. A laser sensor is used to perceive the relative position of the trolley and the tunnel wall in real time. By adjusting the trolley's position to center it within the tunnel, the accuracy of the initial positioning is ensured. Subsequently, the contact state between the clamping roller device and the tunnel wall is used to precisely calibrate the alignment of the trolley's axis with the tunnel axis, establishing a stable benchmark for subsequent laying. After the steel coil is loaded, the lines formed on the tunnel wall by the laser beam are compared in real time with preset markings. If a deviation exceeds the allowable range, the steel coil suspension device is immediately dynamically adjusted. This effectively compensates for complex deviations caused by factors such as tunnel contour fluctuations, trolley travel offset, or material deformation, thereby improving the overlap accuracy of the steel coil laying trolley.

[0108] In one possible design, multiple states include a second state and a third state, and multiple distances include a first distance, a second distance, a third distance, and a fourth distance. S201: Obtain the multiple distances and adjust the preset trolley position according to the multiple distances and a preset trolley position adjustment rule to center the trolley in the preset tunnel, including:

[0109] S2011. Adjust the boom to the second state, and obtain the first distance between the first laser sensor on the boom and the tunnel wall, and the second distance between the second laser sensor on the boom and the tunnel wall; wherein, the second state refers to the state in which the boom is parallel to the preset trolley travel plane, and the first laser sensor and the second laser sensor are respectively set at both ends of the boom.

[0110] Specifically, the boom's posture can be adjusted to be parallel to the trolley's traveling plane by driving its rotation or extension mechanism, thus placing the boom in a second state. Subsequently, the first and second laser sensors on the boom are used to measure the distance to the tunnel wall, obtaining a first distance and a second distance. This step is used to acquire distance data between the boom and the tunnel wall when it is parallel to the trolley's traveling plane. This provides a basis for subsequent calculation of the first difference and determining whether the trolley's lateral position has shifted, and is a crucial data acquisition step for achieving trolley centering adjustment.

[0111] S2012. Adjust the boom to the third state and obtain the third distance between the laser sensor on the boom and the tunnel wall at this time; where the third state refers to the state in which the boom is perpendicular to the traveling plane of the trolley.

[0112] Specifically, the boom's drive mechanism can be manipulated to adjust its orientation until it is perpendicular to the trolley's traveling plane, thus placing the boom in the third state. Then, a laser sensor on the boom is used to measure the tunnel wall, obtaining the third distance. This step acquires the distance data between the boom and the tunnel wall when it is perpendicular to the trolley's traveling plane, providing fundamental data for calculating the difference between the third and fourth distances and determining whether the trolley has experienced any positional deviation in the direction perpendicular to the traveling plane.

[0113] S2013. Rotate the boom by an angle to obtain the fourth distance between the laser sensor on the boom and the tunnel wall.

[0114] Specifically, by manipulating the drive assembly of the boom, the boom in its third state can be rotated 180 degrees around a preset rotation axis. Once the boom stabilizes at this angle, the laser sensor on it is activated to measure the distance to the tunnel wall, thus obtaining a fourth distance. This step is used to compare with the third distance obtained in the third state. By calculating the difference between the two, it is determined whether the trolley has a positional deviation in the direction perpendicular to the travel plane. This provides distance data support for subsequent adjustments to the trolley's position based on whether the difference exceeds a threshold, thus centering the trolley in the tunnel.

[0115] S2014. In response to the first difference between the first distance and the second distance being greater than a preset first threshold, or the second difference between the third distance and the fourth distance being greater than a preset second threshold, the position of the trolley is adjusted according to the trolley position adjustment rules so that the first difference is less than or equal to the first threshold, and the second difference is less than or equal to the second threshold; wherein, the first difference being less than or equal to the first threshold and the second difference being less than or equal to the second threshold is used to indicate that the trolley is centered in the tunnel.

[0116] Specifically, the process first identifies whether the first difference between the first and second distances exceeds a preset first threshold, and whether the second difference between the third and fourth distances exceeds a preset second threshold. When either difference exceeds the limit, the traveling mechanism is driven to fine-tune the position of the trolley in directions parallel and perpendicular to the traveling plane, according to preset trolley position adjustment rules. Simultaneously, the changes in the first and second differences during the adjustment process are monitored in real time until both differences do not exceed their corresponding thresholds. This step ensures that the trolley is centered in the tunnel in both directions parallel and perpendicular to the traveling plane through the comparison and adjustment of bidirectional distance differences. This multi-dimensional approach guarantees the accuracy of the trolley's initial positioning, laying a solid foundation for subsequent axis alignment and steel coil laying precision control.

[0117] The technical effect of this solution in this embodiment is that by measuring and comparing the distance between the working boom and the tunnel wall under different rotation states multiple times, it is possible to accurately detect whether the trolley is in a centered state within the tunnel cross section; when the distance difference is detected to exceed the allowable range, the trolley position is automatically adjusted, thereby ensuring that the trolley always maintains a precise centered posture in the tunnel, laying a reliable benchmark for subsequent high-precision splicing operations.

[0118] In one possible design, S202, the boom is adjusted to the first state, and the position of the traveling mechanism is adjusted according to a preset traveling mechanism adjustment rule so that the axis of the trolley coincides with the preset tunnel axis, including:

[0119] S2021. Adjust the boom to the first state and obtain the fifth distance between the second telescopic arm of the clamping roller device on the boom and the tunnel wall.

[0120] Specifically, the first and second telescopic arms of the pressure roller device can be extended to the same length, simultaneously bringing the first telescopic arm into contact with the tunnel wall, thereby adjusting the working boom to the first state. Then, a distance measuring device deployed on the second telescopic arm is used to measure the distance between it and the tunnel wall, obtaining the fifth distance. This step is used to obtain real-time distance data between the second telescopic arm and the tunnel wall, providing a direct basis for subsequent determination of whether the trolley axis coincides with the tunnel axis.

[0121] S2022. In response to the fifth distance not being equal to the preset third threshold, the position of the traveling mechanism is adjusted according to the traveling mechanism adjustment rules so that the fifth distance is equal to the third threshold; wherein, the fifth distance being equal to the third threshold is used to indicate that the axis of the trolley coincides with the tunnel axis.

[0122] Specifically, the process first determines whether there is a difference between the fifth distance and the preset third threshold. If a difference exists, the actuators of the traveling mechanism are moved according to the adjustment rules, while the change in the fifth distance is monitored in real time until the fifth distance equals the third threshold. This step is used to precisely adjust the position of the trolley so that the axis of the trolley coincides with the axis of the tunnel, providing a reliable axial reference for subsequent steel coil laying and fundamentally reducing the problem of steel coil overlap accuracy caused by axis misalignment.

[0123] The technical effect of this solution in this embodiment is as follows: by using the telescopic arm of the pressing roller device as a physical reference, the distance between it and the tunnel wall is measured in real time and compared with the preset ideal value; when a deviation is found, the traveling mechanism is immediately driven to make fine adjustments to the position of the trolley, thereby ensuring that the traveling axis of the trolley always coincides precisely with the tunnel axis and eliminating the systematic error caused by the trolley deviating.

[0124] In one possible design, multiple laser emitting devices include a first laser emitting device and a second laser emitting device, multiple laser beam lines include a first line and a second line, and the steel coil includes a first end face and a second end face. S203, Obtaining the multiple laser beam lines includes:

[0125] S2031. Align the laser beam emitted by the first laser emitting device with the first end face of the steel coil to obtain the first line formed by the first laser beam on the tunnel wall.

[0126] Specifically, the attitude of the first laser emitting device can be adjusted so that its emitted laser beam is precisely pointed at the first end face of the steel coil. After passing through this end face, the laser beam is projected onto the tunnel wall, thus forming the first line. This step is used to visually represent the spatial position of the first end face of the steel coil through the laser line. It provides a visual benchmark for subsequent comparison of this line with the pre-marked lines on the tunnel wall and for determining whether the position of the first end face of the steel coil has deviated. It is an important step in monitoring the accuracy of the steel coil laying position.

[0127] S2032. Align the laser beam emitted by the second laser emitting device with the second end face of the steel coil to obtain the second line formed by the second laser beam on the tunnel wall.

[0128] Specifically, the orientation of the second laser emitting device can be adjusted so that its emitted laser beam is precisely pointed at the second end face of the steel coil. After passing through this end face, the laser beam is projected onto the tunnel wall, thus forming the second line. This step is used to visually represent the spatial position of the second end face of the steel coil through the laser line, providing a visual reference for subsequent comparison of this line with the preset lines on the tunnel wall and for determining whether the position of the second end face of the steel coil has deviated.

[0129] Specifically, a first laser emitting device and a second laser emitting device can be installed on the connecting beam between two working arms on the steel coil laying trolley; the laser emitting devices are adjusted so that the laser beams emitted are aligned with the two end faces of the steel coil to be laid; based on the projection position of the laser beam on the tunnel wall, the actual laying position of the steel coil in the tunnel under the current state is predicted; the predicted actual laying position is compared with the ideal marked position on the tunnel wall to determine the actual deviation of the steel coil laying position.

[0130] The technical effect of this solution in this embodiment is that by aligning the laser beams emitted by the two laser emitting devices with the two end faces of the steel coil, the laser beams form two corresponding lines on the tunnel wall. This method can intuitively transform the actual end face position of the steel coil into observable reference lines on the tunnel wall, thereby accurately capturing the overall position of the steel coil after loading. This provides a positional reference for subsequently comparing the deviation between the lines and the preset markings on the tunnel wall, and then adjusting the steel coil suspension device.

[0131] In one possible design, the marking includes a first marking and a second marking. S204, in response to a deviation between each laser beam line and a preset marking on the tunnel wall exceeding a preset deviation threshold, the steel coil suspension device is adjusted according to a preset deviation adjustment rule to make the deviation less than or equal to the deviation threshold, including:

[0132] S2041. In response to a first deviation between the first line and the first scribing being greater than a deviation threshold, or a second deviation between the second line and the second scribing being greater than a deviation threshold, the steel coil suspension device is adjusted according to the deviation adjustment rules so that the first deviation is less than or equal to the deviation threshold, and the second deviation is less than or equal to the deviation threshold.

[0133] Specifically, the process first identifies whether the first deviation between the first line and the first scribe line, and the second deviation between the second line and the second scribe line, exceed preset thresholds. When either deviation exceeds the limit, the actuator of the steel coil suspension device is driven to adjust the spatial position or angle of the steel coil to correct the deviation, according to the deviation adjustment rules. Simultaneously, the changes in both deviations are monitored in real time until both do not exceed the preset thresholds. This step ensures that the steel coil is in a precise laying position by synchronously calibrating the positional deviations at both ends, providing direct assurance for accurate overlap of the steel coil.

[0134] For example, the positions P1 and P2 of the lines formed by laser beams L1 and L2 on the tunnel wall can be determined. By comparing P1 and P2 with the pre-marked ideal laying positions Q1 and Q2 on the wall, the lateral distance deviation between P1 and Q1 can be calculated. Calculate the lateral distance deviation between P2 and Q2. .

[0135] judge and Determine the size and direction. and The differences (which may cause the steel coil to tilt) and whether the absolute value exceeds the preset threshold T. The predicted overlap deviation is mainly reflected in the adjacent rings. Regarding the differences: If the controller or operator determines: and and If the deviation is very small, the correction cylinder will not be actively activated during subsequent steel coil laying; laying will proceed as usual. If judged as follows: or or If the overlap deviation is large, potentially approaching or exceeding 20mm, real-time correction will be initiated during the laying process: the operator or controller will adjust the correction based on the predicted deviation. and The magnitude and direction of the deviation are used to determine the required correction direction and magnitude. For example, if an overall rightward deviation is predicted, a leftward correction is needed. During the rotation of the steel coil laying boom, the control system sends commands to the correction cylinders and their control valves. The details of the correction execution are as follows:

[0136] a) The correction cylinder is installed on the steel coil suspension device for lateral displacement: driving its movement causes the suspended steel coil to move slightly to the left or right, changing the center line of the released steel coil.

[0137] b) The correction action can be adjusted in stages according to the boom rotation angle (e.g., adjust the correction amount once every 30 degrees of rotation, based on the current laying effect). The operator can manually fine-tune the correction cylinder by observing the actual laying effect, i.e., the fit between the edge of the steel coil and the ideal marking line.

[0138] c) Through continuous dynamic correction, the actual position of the laid steel coil gradually approaches and eventually matches the ideal marked position, thereby ensuring that the overlap accuracy with the previous steel coil meets the requirement of ≤20mm.

[0139] The technical effect of this solution in this embodiment is that by comparing the positional deviation between the laser lines at both ends of the steel coil and the preset marking line in the tunnel in real time, the angular offset or parallelism error generated during the laying of the steel coil can be accurately identified; once the deviation at any end or both ends is detected to exceed the allowable range, the steel coil suspension device is automatically adjusted immediately, thereby ensuring that the final laying position of the steel coil is completely consistent with the design benchmark, effectively guaranteeing the overlap accuracy.

[0140] In one possible design, the marking includes a first marking and a second marking. S2041, the steel coil suspension device is adjusted according to the deviation adjustment rules to make the first deviation less than or equal to a deviation threshold, and simultaneously the second deviation less than or equal to the deviation threshold, including:

[0141] S20411. Based on the first deviation and the second deviation, determine the correction direction and correction amplitude of the steel coil suspension device; wherein, the correction direction refers to the direction in which the position of the steel coil suspension device is adjusted so that both the first deviation and the second deviation are less than or equal to the deviation threshold, and the correction amplitude refers to the displacement distance in which the position of the steel coil suspension device is adjusted so that both the first deviation and the second deviation are less than or equal to the deviation threshold.

[0142] Specifically, the process begins by analyzing the direction and degree of the first and second deviations. By considering the correlation between them, the adjustment direction that can simultaneously reduce both deviations is determined. Then, based on the actual magnitudes of the two deviations, the required adjustment displacement is calculated, thereby determining the correction direction and amplitude of the steel coil suspension device. This step provides a precise and clear adjustment basis for generating specific correction tasks, ensuring that subsequent correction actions can specifically correct the deviations, avoiding ineffective or erroneous adjustments, and providing a prerequisite for ensuring that both deviations ultimately meet the threshold requirements.

[0143] S20412. Generate multiple correction tasks based on the correction direction and correction magnitude.

[0144] Specifically, based on the correction direction and magnitude, and combined with the adjustment range and coordination logic of each actuator of the steel coil suspension device, the overall adjustment requirements can be broken down into multiple ordered local operation commands. Each command clearly corresponds to the action requirements of a specific component, thereby generating multiple correction tasks. This step transforms abstract correction parameters into concrete, executable operation steps, making the adjustment process of the steel coil suspension device more systematic and controllable, facilitating step-by-step implementation and real-time monitoring, and ensuring accurate and efficient deviation correction.

[0145] S20413. In response to the completion of each correction task, obtain the third deviation and the fourth deviation; wherein, the third deviation refers to the deviation between the first line and the first scribing line after the completion of each correction task, and the fourth deviation refers to the deviation between the second line and the second scribing line after the completion of each correction task.

[0146] Specifically, after each correction task is completed, the positional differences between the first line and the first scribing line, and between the second line and the second scribing line, can be re-identified using appropriate detection methods to determine the third and fourth deviations. This step is used to verify the actual effect of the previous correction operation, providing direct evidence for judging whether the positional deviations at both ends of the steel coil have been controlled within the preset range, and is a key basis for deciding whether to stop the correction process.

[0147] S20414. In response to the third deviation being less than or equal to the deviation threshold, and the fourth deviation being less than or equal to the deviation threshold, stop executing each correction task.

[0148] Specifically, after confirming that the third and fourth deviations have not exceeded the preset thresholds, the controller can issue a termination command to stop the execution of all subsequent correction tasks. This step is used to terminate the adjustment action in a timely manner when the positional deviations at both ends of the steel coil meet the laying requirements, avoiding excessive operation that may cause new deviations, ensuring that the steel coil is stable in a precise laying position, and providing stable conditions for high-quality overlap of the steel coil.

[0149] Figure 3 This is a schematic diagram of the structure of the steel coil laying trolley provided in the embodiments of this application. Figure 4 This is a schematic diagram of the working boom and end-effector of the steel coil laying trolley provided in an embodiment of this application. Figure 5 This is a schematic diagram showing the installation position of the laser sensor on the steel coil laying trolley provided in an embodiment of this application. Figure 6 This is a schematic diagram showing the installation position of the laser emitter on the steel coil laying trolley's slab ring, provided in an embodiment of this application. Figure 7 A schematic diagram showing the structure and location of the hydraulic cylinder for correcting the deviation of the steel coil laying trolley provided in this application embodiment is shown below. Figures 3 to 7 As shown, the steel coil laying trolley includes a traveling mechanism 1, a chassis assembly 2, a working boom 3, a suspended basket assembly 6, a steel coil suspension device 4, a pressing roller device 5, a grinding device, a material changing platform, a vehicle crossing bridge, a hydraulic system, an electrical system, and a dust collection system.

[0150] The two booms of the working boom 3 are symmetrically mounted on both sides of the chassis beam. Driven by a slewing support and a hydraulic motor, they can rotate approximately 280 degrees. The center axis of rotation is defined as the center axis of the steel coil laying trolley. At the end of the boom are installed the steel coil suspension device 4, the pressure roller device 5, the suspended platform assembly 6, and the grinding device.

[0151] The steel coil suspension device 4 is used to suspend the steel coil material and is typically driven by a hydraulic cylinder to achieve forward and backward telescopic movement. At least one alignment cylinder 401 is installed on this device. This alignment cylinder 401 can be arranged perpendicular to the laying direction and is used to drive the entire steel coil to produce lateral displacement, finely adjusting the lateral position of the released steel coil.

[0152] The clamping roller device 5 is used to clamp the steel coil during laying, making it conform to the wall surface. It includes a telescopic arm and a clamping roller at the end. At least one correction cylinder 501 is installed on this device. The correction cylinder 501 is used to drive the roller support to produce lateral displacement, thereby fine-tuning the position of the clamping point and indirectly affecting the laying trajectory of the steel coil. The controllability and consistency of the telescopic arm extension length are the basis of the mechanical positioning process.

[0153] The traveling mechanism 1 has forward, backward, lifting, and lateral movement functions, and is driven by a hydraulic system and controlled by an electrical system. It is used for moving the entire machine.

[0154] Laser sensor 301 is mounted on the end of the boom and is used to measure the distance between the boom end and the tunnel wall in both horizontal and vertical states.

[0155] The ring laser emitting device 201 emits two highly visible and stable ring lasers. It is fixedly mounted on the trolley chassis assembly, located on the connecting beam or dedicated support in the middle area between the two working booms. The laser emission direction is adjustable, ensuring that the two laser beams can be precisely aligned with the two end faces of the steel coil to be laid during the construction preparation phase. The laser beams strike the tunnel wall, forming clear spots or lines; their positions represent the predicted overlap position of the steel coil after laying, under the current trolley conditions.

[0156] The controller can be an industrial computer or a dedicated controller. It receives the distance signal from the laser sensor 301. It can receive the results of manual observation of the ring laser position or automatically identify the deviation signal between the ring laser projection and the ideal scribing line through a camera or other means. Based on a preset program or operator input, it generates control commands for the traveling mechanism and the correction cylinders 401 and 501, and is equipped with an operation panel or human machine interface (HMI).

[0157] The technical effect of this solution in this embodiment is as follows: By accurately determining the correction direction and correction amplitude of the steel coil suspension device based on two sets of deviations between the laser lines on the corresponding end face of the steel coil and the preset markings on the tunnel wall, the correction operation is ensured to be clearly targeted, avoiding the expansion of deviation or insufficient adjustment caused by blind adjustment; then, multiple sets of correction tasks are generated based on the determined direction and amplitude to achieve step-by-step fine adjustment, avoiding the accuracy defects that may exist in one-time adjustment; at the same time, after each correction task is completed, by acquiring and judging whether the two sets of new deviations after adjustment meet the preset threshold requirements, over-adjustment or under-adjustment is effectively avoided, improving the stability of the correction process and the final overlap accuracy.

[0158] This application embodiment also provides a steel coil overlap accuracy control system for a steel coil laying trolley. The system includes a trolley, a working boom deployed on the trolley, a traveling mechanism, multiple laser emitting devices, and a pressing roller device and a steel coil suspension device deployed on the working boom.

[0159] Controller, used to execute Figure 2 Methods for controlling the overlap accuracy of steel coils on steel coil laying trolleys.

[0160] The trolley is used to carry the controller, working boom, traveling mechanism and multiple laser emitting devices.

[0161] The boom is used to support the pressure roller device and the steel coil suspension device.

[0162] A clamping roller device is used to clamp the steel coil during its laying.

[0163] The traveling mechanism is used to move within the tunnel to achieve the positional movement of the trolley.

[0164] A steel coil suspension device for loading steel coils.

[0165] Multiple laser emitting devices are used to emit laser beams to the tunnel wall to form multiple laser beam lines on the tunnel wall.

[0166] In one possible design, the steel coil laying trolley's steel coil overlap accuracy control system may also include: chassis assembly, suspended basket assembly, grinding device, material changing platform, vehicle crossing bridge, hydraulic system, electrical system, dust collection system, and operating interface, etc. The chassis assembly serves as the load-bearing foundation for the entire trolley, supporting all components and cooperating with the traveling mechanism to enable trolley movement; the suspended platform assembly can carry workers or inspection equipment, facilitating close-range operation and monitoring of the steel coil laying area; the grinding device can grind the steel coil overlaps or tunnel walls to remove impurities or uneven parts to ensure a good fit; the material changing platform is used for the temporary placement and loading / unloading of steel coils, facilitating steel coil replacement operations; the vehicle crossing bridge can build a temporary passage for other equipment or personnel to pass safely during trolley operations; the hydraulic system provides power for the extension and retraction of the working boom and the adjustment of the steel coil suspension device; the electrical system is responsible for the circuit connection and control signal transmission of all components, coordinating overall operation; the dust collection system can collect dust and debris generated during operation, keeping the working environment clean and reducing pollution to the equipment.

[0167] Figure 8 This is a schematic diagram of the steel coil overlap accuracy control device for the steel coil laying trolley provided in this embodiment of the application. Figure 8 As shown, the device includes:

[0168] The first adjustment module 801 is used to acquire multiple distances and adjust the preset trolley position according to the multiple distances and preset trolley position adjustment rules so that the trolley is centered in the preset tunnel; wherein, the multiple distances refer to the distance between the laser sensor on the boom and the preset tunnel wall when the boom is in multiple preset states.

[0169] The second adjustment module 802 is used to adjust the working boom to the first state in response to the trolley being centered in the tunnel, and to adjust the position of the traveling mechanism according to the preset traveling mechanism adjustment rules so that the axis of the trolley coincides with the preset tunnel axis; wherein, the first state refers to the state in which the first telescopic arm and the second telescopic arm of the pressing roller device extend to a preset length, and the first telescopic arm is in contact with the tunnel wall.

[0170] The first acquisition module 803 is used to acquire multiple laser beam lines in response to the fact that the steel coil has been loaded onto the steel coil suspension device and the axis of the trolley has been aligned with the tunnel axis; wherein each laser beam line is a line formed on the tunnel wall by the laser beam emitted by each laser emitting device, and the laser beam lines are parallel to each other.

[0171] The third adjustment module 804 is used to adjust the steel coil suspension device according to the preset deviation adjustment rules in response to the deviation between each laser beam line and the preset scribing line on the tunnel wall being greater than the preset deviation threshold, so that the deviation is less than or equal to the deviation threshold.

[0172] In one possible design, multiple states include a second state and a third state, multiple distances include a first distance, a second distance, a third distance, and a fourth distance, and a first adjustment module 801 includes:

[0173] The first acquisition unit is used to adjust the boom to the second state and acquire the first distance between the first laser sensor on the boom and the tunnel wall, and the second distance between the second laser sensor on the boom and the tunnel wall. The second state refers to the state in which the boom is parallel to the preset trolley travel plane, and the first laser sensor and the second laser sensor are respectively set at both ends of the boom.

[0174] The third acquisition unit is used to adjust the boom to the third state and acquire the third distance between the laser sensor on the boom and the tunnel wall at this time; wherein, the third state refers to the state in which the boom is perpendicular to the traveling plane of the trolley.

[0175] The fourth acquisition unit is used to rotate the working boom by an angle to acquire the fourth distance between the laser sensor on the working boom and the tunnel wall at this time.

[0176] The first adjustment unit is used to adjust the position of the trolley according to the trolley position adjustment rules in response to a first difference between the first distance and the second distance being greater than a preset first threshold, or a second difference between the third distance and the fourth distance being greater than a preset second threshold, so that the first difference is less than or equal to the first threshold, and the second difference is less than or equal to the second threshold; wherein, the first difference being less than or equal to the first threshold and the second difference being less than or equal to the second threshold is used to indicate that the trolley is centered in the tunnel.

[0177] In one possible design, the second adjustment module 802 includes:

[0178] The fifth acquisition unit is used to adjust the working boom to the first state and acquire the fifth distance between the second telescopic arm of the pressing roller device on the working boom and the tunnel wall.

[0179] The second adjustment unit is used to adjust the position of the traveling mechanism according to the traveling mechanism adjustment rules in response to the fifth distance not being equal to the preset third threshold, so that the fifth distance is equal to the third threshold; wherein, the fifth distance being equal to the third threshold is used to indicate that the axis of the trolley coincides with the axis of the tunnel.

[0180] In one possible design, multiple laser emitting devices include a first laser emitting device and a second laser emitting device; multiple laser beam lines include a first line and a second line; the steel coil includes a first end face and a second end face; and the first acquisition module 803 includes:

[0181] The first alignment unit is used to align the laser beam emitted by the first laser emitting device with the first end face of the steel coil to obtain the first line formed by the first laser beam on the tunnel wall.

[0182] The second alignment unit is used to align the laser beam emitted by the second laser emitting device with the second end face of the steel coil to obtain a second line formed by the second laser beam on the tunnel wall.

[0183] In one possible design, the scribing includes a first scribing line and a second scribing line, and the third adjustment module 804 includes:

[0184] The third adjustment unit is used to adjust the steel coil suspension device according to the deviation adjustment rules in response to a first deviation between the first line and the first scribing being greater than a deviation threshold, or a second deviation between the second line and the second scribing being greater than a deviation threshold, so that the first deviation is less than or equal to the deviation threshold, and the second deviation is less than or equal to the deviation threshold.

[0185] In one possible design, the third adjustment unit includes:

[0186] A component is defined to determine the correction direction and correction amplitude of the steel coil suspension device based on the first deviation and the second deviation; wherein, the correction direction refers to the direction in which the position of the steel coil suspension device is adjusted so that both the first deviation and the second deviation are less than or equal to the deviation threshold, and the correction amplitude refers to the displacement distance in which the position of the steel coil suspension device is adjusted so that both the first deviation and the second deviation are less than or equal to the deviation threshold.

[0187] The task generation component is used to generate multiple correction tasks based on the correction direction and correction magnitude.

[0188] The component is acquired in response to the completion of each correction task, to acquire the third deviation and the fourth deviation; wherein, the third deviation refers to the deviation between the first line and the first scribing line after the completion of each correction task, and the fourth deviation refers to the deviation between the second line and the second scribing line after the completion of each correction task.

[0189] The task stop component is used to stop executing each correction task in response to the third deviation being less than or equal to the deviation threshold, and the fourth deviation being less than or equal to the deviation threshold.

[0190] The steel coil overlap accuracy control device of the steel coil laying trolley provided in this embodiment can perform... Figure 2 The technical solution of the embodiment of the method for controlling the overlap accuracy of steel coils on a steel coil laying trolley is shown, and its implementation principle and technical effect are similar to those of steel coil laying trolleys. Figure 2 The embodiment of the method for controlling the overlap accuracy of steel coils on a steel coil laying trolley shown is similar and will not be described in detail here.

[0191] Figure 9 This is a schematic diagram of the hardware structure of the electronic device provided in an embodiment of this application. Figure 9 As shown, the electronic device 90 includes at least one processor 901 and a memory 902. The electronic device 90 also includes a communication component 903. The processor 901, memory 902, and communication component 903 are connected via a bus 904.

[0192] In the specific implementation process, at least one processor 901 executes computer execution instructions stored in memory 902, so that at least one processor 901 is used to implement a method for controlling the overlap accuracy of steel coils on a steel coil laying trolley according to the above embodiment.

[0193] The specific implementation process of processor 901 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0194] In the above embodiments, it should be understood that the processor 901 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0195] The memory 902 may include high-speed RAM memory, and may also include non-volatile memory (NVM), such as at least one disk storage.

[0196] Bus 904 can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Bus 904 can be divided into address bus, data bus, control bus, etc. For ease of illustration, the bus 904 in the accompanying drawings of this application is not limited to only one bus or one type of bus.

[0197] The above description of the functions implemented by electronic devices and main control devices has introduced the solutions provided by the embodiments of the present invention. It is understood that, in order to implement the above functions, the electronic device or main control device includes hardware structures and / or software modules corresponding to the execution of each function. By combining the units and algorithm steps of the various examples described in the embodiments of the present invention, the embodiments of the present invention can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed by hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the technical solutions of the embodiments of the present invention.

[0198] This application also provides a computer-readable storage medium storing computer-executable instructions. When executed by a processor, these instructions are used to implement a method for controlling the overlap accuracy of a steel coil laying trolley as described in the above embodiments. In the specific implementation of the aforementioned method for controlling the overlap accuracy of a steel coil laying trolley, each module can be implemented as a processor.

[0199] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0200] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in application-specific integrated circuits (ASICs). Alternatively, the processor and the readable storage medium can exist as discrete components in an electronic device or a host device.

[0201] This application also provides a computer program product, including a computer program, which, when executed by a processor, is used to implement a method for controlling the overlap accuracy of a steel coil laying trolley as described in the above embodiments.

[0202] The computer program is stored in a readable storage medium, and at least one processor can read the computer program from the readable storage medium and execute the computer program to perform the scheme provided in any of the above embodiments.

[0203] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disk, or optical disk.

[0204] The technical solutions of this application have been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it is readily understood by those skilled in the art that the scope of protection of this application is obviously not limited to these specific embodiments. The above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A method for controlling the overlap accuracy of steel coils on a steel coil laying trolley, characterized in that, A controller for a steel coil overlap accuracy control system applied to a steel coil laying trolley, the steel coil overlap accuracy control system of the steel coil laying trolley further comprising a trolley, a working boom deployed on the trolley, a traveling mechanism, multiple laser emitting devices, and a pressure roller device and a steel coil suspension device deployed on the working boom, the method comprising: Multiple distances are acquired, and the preset trolley position is adjusted according to the multiple distances and preset trolley position adjustment rules so that the trolley is centered in the preset tunnel; wherein, the multiple distances refer to the distance between the laser sensor on the working boom and the preset tunnel wall when the working boom is in multiple preset states; In response to the trolley being centered in the tunnel, the working boom is adjusted to a first state, and the position of the traveling mechanism is adjusted according to a preset traveling mechanism adjustment rule so that the axis of the trolley coincides with the preset tunnel axis; wherein, the first state refers to the state in which the first telescopic arm and the second telescopic arm of the pressing roller device extend out to a preset length, and the first telescopic arm is in contact with the tunnel wall. In response to the steel coil being loaded onto the steel coil suspension device and the axis of the trolley being aligned with the tunnel axis, multiple laser beam lines are acquired; wherein each laser beam line is a line formed on the tunnel wall by a laser beam emitted by each laser emitting device, and the laser beam lines are parallel to each other. In response to a deviation between each laser beam line and a preset marking on the tunnel wall exceeding a preset deviation threshold, the steel coil suspension device is adjusted according to a preset deviation adjustment rule to make the deviation less than or equal to the deviation threshold.

2. The method for controlling the overlap accuracy of steel coils on a steel coil laying trolley according to claim 1, characterized in that, The multiple states include a second state and a third state, and the multiple distances include a first distance, a second distance, a third distance, and a fourth distance. The step of acquiring the multiple distances and adjusting the preset trolley position according to the multiple distances and a preset trolley position adjustment rule to center the trolley in the preset tunnel includes: The boom is adjusted to the second state, and the first distance between the first laser sensor on the boom and the tunnel wall and the second distance between the second laser sensor on the boom and the tunnel wall are obtained. The second state refers to the state in which the boom is parallel to the preset trolley travel plane, and the first laser sensor and the second laser sensor are respectively set at both ends of the boom. The working boom is adjusted to the third state, and the third distance between the laser sensor on the working boom and the tunnel wall is obtained at this time; wherein, the third state refers to the state in which the working boom is perpendicular to the traveling plane of the trolley; The working boom is rotated by a preset angle to obtain the fourth distance between the laser sensor on the working boom and the tunnel wall at this time; In response to a first difference between the first distance and the second distance being greater than a preset first threshold, or a second difference between the third distance and the fourth distance being greater than a preset second threshold, the position of the trolley is adjusted according to the trolley position adjustment rule so that the first difference is less than or equal to the first threshold, and the second difference is less than or equal to the second threshold; wherein, the first difference being less than or equal to the first threshold and the second difference being less than or equal to the second threshold is used to indicate that the trolley is centered in the tunnel.

3. The method for controlling the overlap accuracy of steel coils on a steel coil laying trolley according to claim 1, characterized in that, Adjusting the boom to a first state and adjusting the position of the traveling mechanism according to a preset traveling mechanism adjustment rule to make the axis of the trolley coincide with the preset tunnel axis includes: Adjust the working boom to the first state and obtain the fifth distance between the second telescopic arm of the pressure roller device on the working boom and the tunnel wall. In response to the fifth distance not being equal to a preset third threshold, the position of the traveling mechanism is adjusted according to the traveling mechanism adjustment rules so that the fifth distance is equal to the third threshold; wherein, the fifth distance being equal to the third threshold is used to indicate that the axis of the trolley coincides with the axis of the tunnel.

4. The method for controlling the overlap accuracy of steel coils on a steel coil laying trolley according to claim 1, characterized in that, The plurality of laser emitting devices includes a first laser emitting device and a second laser emitting device; the plurality of laser beam lines includes a first line and a second line; the steel coil includes a first end face and a second end face; and acquiring the plurality of laser beam lines includes: The laser beam emitted by the first laser emitting device is aligned with the first end face of the steel coil to obtain the first line formed by the first laser beam on the tunnel wall. The laser beam emitted by the second laser emitting device is aligned with the second end face of the steel coil to obtain the second line formed by the second laser beam on the tunnel wall.

5. The method for controlling the overlap accuracy of steel coils on a steel coil laying trolley according to claim 4, characterized in that, The marking includes a first marking and a second marking. The adjustment of the steel coil suspension device according to a preset deviation adjustment rule, in response to a deviation between each laser beam line and a preset marking on the tunnel wall exceeding a preset deviation threshold, to make the deviation less than or equal to the deviation threshold, includes: In response to a first deviation between the first line and the first scribing being greater than the deviation threshold, or a second deviation between the second line and the second scribing being greater than the deviation threshold, the steel coil suspension device is adjusted according to the deviation adjustment rule so that the first deviation is less than or equal to the deviation threshold, and the second deviation is less than or equal to the deviation threshold.

6. The method for controlling the overlap accuracy of steel coils on a steel coil laying trolley according to claim 5, characterized in that, The step of adjusting the steel coil suspension device according to the deviation adjustment rule to make the first deviation less than or equal to the deviation threshold, and the second deviation less than or equal to the deviation threshold, includes: Based on the first deviation and the second deviation, the correction direction and correction amplitude of the steel coil suspension device are determined; wherein, the correction direction refers to the direction in which the position of the steel coil suspension device is adjusted so that both the first deviation and the second deviation are less than or equal to the deviation threshold, and the correction amplitude refers to the displacement distance in which the position of the steel coil suspension device is adjusted so that both the first deviation and the second deviation are less than or equal to the deviation threshold. Based on the correction direction and the correction amplitude, multiple correction tasks are generated; In response to the completion of each of the aforementioned correction tasks, a third deviation and a fourth deviation are obtained; wherein, the third deviation refers to the deviation between the first line and the first scribing line after the completion of each of the aforementioned correction tasks, and the fourth deviation refers to the deviation between the second line and the second scribing line after the completion of each of the aforementioned correction tasks. In response to the third deviation being less than or equal to the deviation threshold, and the fourth deviation being less than or equal to the deviation threshold, the execution of each of the correction tasks is stopped.

7. A steel coil overlap accuracy control system for a steel coil laying trolley, characterized in that, The system includes a trolley, a working boom deployed on the trolley, a traveling mechanism, multiple laser emitting devices, and a pressure roller device and a steel coil suspension device deployed on the working boom; The controller is used to execute the method for controlling the overlap accuracy of the steel coil laying trolley as described in any one of claims 1 to 6. The trolley is used to carry the controller, the working arm, the traveling mechanism, and the multiple laser emitting devices; The working boom is used to support the pressing roller device and the steel coil suspension device; The clamping roller device is used to clamp the steel coil during the laying of the steel coil; The traveling mechanism is used to move within the tunnel to achieve the positional movement of the trolley; The steel coil suspension device is used to load the steel coil; The plurality of laser emitting devices are used to emit laser beams to the tunnel wall to form a plurality of laser beam lines on the tunnel wall.

8. A device for controlling the overlap accuracy of steel coils on a steel coil laying trolley, characterized in that, A controller for a steel coil overlap accuracy control system applied to a steel coil laying trolley. The steel coil overlap accuracy control system also includes the trolley, a working boom mounted on the trolley, a traveling mechanism, multiple laser emitting devices, and a pressure roller device and a steel coil suspension device mounted on the working boom. The device includes: The first adjustment module is used to acquire multiple distances and adjust the preset trolley position according to the multiple distances and the preset trolley position adjustment rules so that the trolley is centered in the preset tunnel; wherein, the multiple distances refer to the distance between the laser sensor on the working boom and the preset tunnel wall when the working boom is in multiple preset states. The second adjustment module is used to adjust the working boom to a first state in response to the trolley being centered in the tunnel, and to adjust the position of the traveling mechanism according to a preset traveling mechanism adjustment rule so that the axis of the trolley coincides with the preset tunnel axis; wherein, the first state refers to the state in which the first telescopic arm and the second telescopic arm of the pressing roller device extend out to a preset length, and the first telescopic arm is in contact with the tunnel wall. The first acquisition module is used to acquire multiple laser beam lines in response to the fact that the steel coil has been loaded onto the steel coil suspension device and the axis of the trolley has been aligned with the axis of the tunnel; wherein each laser beam line is a line formed on the tunnel wall by the laser beam emitted by each laser emitting device, and the laser beam lines are parallel to each other. The third adjustment module is used to adjust the steel coil suspension device according to a preset deviation adjustment rule in response to a deviation between each laser beam line and a preset scribing line on the tunnel wall exceeding a preset deviation threshold, so that the deviation is less than or equal to the deviation threshold.

9. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; When the processor executes the computer execution instructions stored in the memory, it is used to implement the method for controlling the overlap accuracy of steel coils on the steel coil laying trolley as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method for controlling the overlap accuracy of steel coils on a steel coil laying trolley as described in any one of claims 1 to 6.

11. A computer program product, characterized in that, The system includes a computer program, which, when executed by a processor, is used to implement the method for controlling the overlap accuracy of steel coils on a steel coil laying trolley as described in any one of claims 1 to 6.

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