A multi-parameter collaborative perception-based intelligent regulation and control method for a conveying device cluster

Abstract

The application relates to the technical field of intelligent regulation methods, and particularly discloses a conveying equipment cluster intelligent regulation method based on multi-parameter collaborative sensing. The method comprises the following steps: collecting batch-changing transmission characteristics of the conveying equipment cluster; determining the spatial interval of the mixed transition zone according to the batch-changing transmission characteristics; performing cross-section coordinate conversion on the boundary of the spatial interval to obtain a boundary evolution path; predicting the boundary arrival time window of the key work station, comparing the spatial interval with the mechanical action coverage interval in space interference, and determining the core interference area; determining the speed-changing trigger node according to the core interference area, configuring the buffer action in combination with the boundary arrival time window, and generating an isolation control scheme; collecting the tension jump amplitude in the execution stage, determining the secondary damage risk according to the material fracture limit, and reconstructing the isolation control scheme to obtain a flexible correction strategy. The application is beneficial to realizing the convergence isolation of batch-changing waste and the physical protection of the anti-breaking belt.

Description

Technical Field

[0001] This invention relates to the field of intelligent control methods, specifically to an intelligent control method for a cluster of conveying equipment based on multi-parameter collaborative sensing. Background Technology

[0002] A continuous flexible strip material moves continuously along the conveying direction between multiple conveying sections and is subjected to longitudinal tension during the conveying process. In industrial production, when the control center receives a production specification switching command, the conveying equipment cluster usually needs to complete the handover of materials from the old and new batches without stopping the machine.

[0003] Due to equipment inertia and control lag, there is a difference in linear velocity between adjacent conveying sections. During batch changeover, the difference in linear velocity, combined with the elastic deformation of the material itself, causes a positional difference between the leading edge and trailing edge boundaries of the new batch of material and the old batch of material, thus forming a dynamically changing mixed transition zone in space.

[0004] If the arrival time window of the mixing transition zone at the downstream slitting equipment cannot be predicted, spatial interference can easily occur between the action coverage area of ​​the mechanical actuator and the mixing transition zone, resulting in incorrect cutting of good products or the mixing of waste materials. To reduce the length of waste materials, the aforementioned interference zone can be forcibly narrowed by interfering with the speed change sequence of adjacent conveyor sections. However, this asynchronous operation is highly susceptible to inducing drastic tension jumps during the speed change transition phase. When the peak tension exceeds the upper limit of allowable tensile force determined by the ultimate tensile strength of the material, it will lead to the loss of the tensile safety margin of the system, thereby causing strip breakage or irreversible deformation, resulting in the risk of secondary damage.

[0005] Therefore, the present invention provides an intelligent control method for a cluster of conveying equipment based on multi-parameter collaborative sensing. Summary of the Invention

[0006] The purpose of this invention is to provide an intelligent control method for a cluster of conveying equipment based on multi-parameter collaborative sensing, so as to solve the contradiction between the convergence of waste space and the safety of material stress under the condition of continuous batch change.

[0007] The objective of this invention can be achieved through the following technical solutions:

[0008] A method for intelligent control of a conveyor equipment cluster based on multi-parameter collaborative sensing includes the following steps:

[0009] The main shaft speed and cross-section tension of the conveyor equipment cluster are collected and synchronized in time. The linear velocity difference and tension change rate are analyzed and integrated to form batch change transmission characteristics. Based on the batch change transmission characteristics, the spatial range of the mixed transition zone is determined. The cross-section coordinate conversion of the boundary of the spatial range is performed to obtain the boundary evolution path.

[0010] Based on the boundary evolution path, predict the boundary arrival window of the hybrid transition zone to each key work station; and compare the spatial interference between the spatial interval formed by the hybrid transition zone at the key work station and the mechanical action coverage interval to determine the core interference zone.

[0011] Based on the speed change sequence of adjacent conveyor sections in the core interference zone, determine the speed change trigger node; based on the speed change trigger node and the boundary arrival time window, configure the buffer action of the buffer section, and generate an isolation control scheme for the mixed transition zone.

[0012] During the restricted execution phase of the isolation control scheme, the amplitude of the tension jump is collected, and the secondary damage caused by the isolation action is determined based on the material fracture limit. The isolation control scheme is reconstructed based on the secondary damage determination results to obtain a flexible correction strategy.

[0013] Furthermore, the process of performing the aforementioned cross-segment coordinate conversion is as follows:

[0014] Establish a cross-section transfer matrix by obtaining the installation position, mechanical clearance distance, and actual surface linear velocity ratio of adjacent conveyor sections;

[0015] The boundary displacement sequence is obtained by using a cross-segment transfer matrix to perform cross-segment mapping on the leading edge boundary coordinates and trailing edge boundary coordinates of the spatial interval;

[0016] Piecewise curve fitting was performed on the displacement sequences of the leading edge boundary and the displacement sequences of the trailing edge boundary, and continuity constraints were applied to the boundary nodes of adjacent transport sections to obtain the boundary evolution path.

[0017] Furthermore, the process of obtaining the spatial interval is as follows:

[0018] The spindle speed and cross-section tension of each conveying section are collected and time-synchronized to obtain the underlying drive sequence.

[0019] The actual surface linear velocity of each conveying section, the difference in linear velocity between adjacent conveying sections, and the rate of tension change are calculated based on the underlying drive sequence to form batch change transmission characteristics.

[0020] The basic hysteresis is obtained by integrating the difference in linear velocity between adjacent conveyor sections during batch changeover.

[0021] The basic hysteresis is dynamically compensated based on the elastic deformation of the material, and the spatial range of the mixed transition zone is determined by combining the batch boundary projection position.

[0022] Furthermore, the process of implementing the continuity constraint is as follows:

[0023] The leading edge boundary displacement sequence and the trailing edge boundary displacement sequence are divided according to the transport section, and the initial dynamic trajectory in each transport section is constructed by cubic B-spline interpolation algorithm.

[0024] The trajectory positions and first spatial derivatives of the initial dynamic trajectories on both sides of the boundary node between adjacent transport sections are compared;

[0025] When the trajectory positions on both sides of the boundary node are the same but the first spatial derivative is discontinuous, the cubic B-spline curve in the neighborhood of the boundary node is refitted with the constraint that the boundary node positions are the same and the first spatial derivative is continuous, and the neighborhood smooth trajectory is obtained.

[0026] The neighborhood smooth trajectory is spliced ​​with the initial dynamic trajectory in spatial coordinates to generate the continuous correction front boundary trajectory and the rear boundary trajectory.

[0027] The continuous correction of the front boundary trajectory and the trailing boundary trajectory are jointly determined as the boundary evolution path.

[0028] Furthermore, the process of performing the aforementioned spatial interferometric comparison is as follows:

[0029] Extract the actual surface linear velocity ratio between the upstream conveying section where the mixing transition zone is formed and the conveying section where the key station is located, and calculate the dynamic diffusion coefficient and diffusion range of the mixing transition zone at the key station.

[0030] By comparing the boundary arrival time window and workstation diffusion range with the action time and action coverage range of the mechanical actuator in a spatiotemporal overlap, the core interference zone is determined.

[0031] Furthermore, the process of establishing the boundary arrival window is as follows:

[0032] Based on the total evolution length of the boundary evolution path, the actual surface linear velocity of the conveyor segment to which the current boundary position belongs is read according to a unified sampling period;

[0033] The predicted displacement within a single sampling period is determined by multiplying the actual surface linear velocity by the uniform sampling period;

[0034] The cumulative displacement is obtained by accumulating the predicted displacement in chronological order.

[0035] If the difference between the cumulative displacement and the total evolution length is greater than or equal to zero, the boundary is determined to have reached the critical position.

[0036] If there is a remaining distance in the last sampling period, the supplementary time is determined by the ratio of the remaining distance to the current actual linear velocity of the surface;

[0037] The predicted time to reach the critical workstation from the leading edge boundary and the trailing edge boundary is determined by the sum of the cumulative time of the unified sampling period and the supplementary time.

[0038] The earlier prediction time is selected from the two prediction times as the starting point of the boundary arrival window, and the later prediction time is selected as the ending point of the boundary arrival window.

[0039] Furthermore, the process of generating the isolation control scheme is as follows:

[0040] The asynchronous operation range is determined by obtaining the speed change trigger nodes of the upstream and downstream conveying sections, and the duration of the misalignment is obtained.

[0041] Calculate the buffer absorption demand based on the difference in linear velocity between adjacent transport segments during the duration of the misalignment;

[0042] Read the remaining allowable stroke of the floating roller, and determine the safe absorption amount and the cut-off overflow amount based on the buffer absorption demand and the remaining allowable stroke of the floating roller;

[0043] An isolation control scheme is generated based on the safe absorption capacity, the cut-off overflow capacity, and the boundary arrival window.

[0044] Furthermore, the process of identifying the speed-changing trigger node is as follows:

[0045] Calculate the interference boundary difference between the length of the core interference zone and the length of a single mechanical action, and determine the speed change trigger node of the adjacent conveyor section based on the interference boundary difference.

[0046] Furthermore, the process of reconstructing the isolation control scheme is as follows:

[0047] When there is a risk of secondary damage, the moving speed and acceleration of the floating roller, as well as the triggering time of the floating roller action, are adjusted within the control range allowed by the drive mechanism of the buffer section, so that the floating roller completes the target moving stroke corresponding to the safe absorption amount before the time window of the boundary is reached.

[0048] When there is no risk of secondary damage, the speed change trigger node, floating roller target travel and cutting isolation command in the isolation control scheme remain unchanged, and the isolation control scheme is determined to be a flexible correction strategy.

[0049] Furthermore, the process for determining the risk of secondary damage is as follows:

[0050] Dynamic tension is collected during the speed change transition phase at the start of the isolation control scheme, and the tension jump amplitude is obtained after signal filtering.

[0051] The upper limit of allowable tensile force is established based on the ultimate tensile strength, cross-sectional area, and fatigue reduction factor of the current batch of materials, and the risk of secondary damage is determined based on the peak tension.

[0052] The beneficial effects of this invention are as follows:

[0053] 1. By establishing a cross-segment transition matrix that includes the surface linear velocity ratio and translation terms, the boundary of the transition zone is spatially mapped, and a continuity constraint is introduced to fit the trajectory. This repairs the local coordinate discontinuity caused by the mechanical clearance of the equipment, smooths the spatial jump of the cross-segment junction node, and improves the consistency between the boundary evolution path and the actual material flow state.

[0054] 2. By predicting the arrival time window of the boundary and deriving the dynamic diffusion coefficient in conjunction with the cascading state between adjacent conveying sections, the secondary deformation of materials caused by equipment dragging, stretching, or stacking compression is fully considered, improving the accuracy of the predicted state of key workstations. Spatiotemporal overlap comparison is performed between the spatial range of the mixing transition zone affected by diffusion and the action coverage range of the mechanical actuators to pinpoint the specific mechanical action rhythm where material mixing occurs. This helps reduce the cutting misalignment problem caused by simple time-dimensional comparison in conventional methods, improving the reliability of waste stripping and the definition of the core interference zone.

[0055] 3. Calculate the buffer absorption demand based on the linear velocity difference during the misalignment duration, and allocate buffer actions in combination with the remaining allowable stroke of the floating roller. Deeply explore and reuse the inherent mechanical temporary storage capacity of the production line to absorb interfering materials, and introduce anti-collision physical boundary verification in the solution generation to reduce the risk of equipment mechanical overstepping the boundary caused by control commands and improve the applicability of the isolation control solution in the industrial field.

[0056] 4. This invention collects the amplitude of tension jumps during the isolation action execution phase and uses the allowable tensile force upper limit established by material fatigue characteristics to verify stress exceedance and determine the risk of secondary damage. It also promptly identifies the extreme physical tension that may be caused by forced intervention. Based on the damage risk, the action intensity of the floating roller is reduced or the target absorption stroke is decreased for instruction reconfiguration. Displacement concessions are used to obtain tension buffer margins, achieving a dynamic balance between the scrap shrinkage limit and the material's mechanical bearing limit. This helps reduce the occurrence of strip breakage accidents and enhances the safety protection effect of flexible correction strategies on continuous production lines. Attached Figure Description

[0057] The invention will now be further described with reference to the accompanying drawings.

[0058] Figure 1 This is a flowchart of an intelligent control method for a cluster of conveying equipment based on multi-parameter collaborative sensing, according to the present invention.

[0059] Figure 2 This is a flowchart of the flexible correction strategy established in this invention;

[0060] Figure 3 This is a time-series diagram showing the relationship between the speed switching and avoidance of the conveying equipment cluster and the throughput displacement of the buffer section in an embodiment of the present invention. Detailed Implementation

[0061] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0062] Example 1: As Figure 1 As shown, a method for intelligent control of a conveying equipment cluster based on multi-parameter collaborative sensing is applicable to flexible strip materials that are continuously conveyed and subjected to longitudinal tension between multiple conveying sections.

[0063] A continuous flexible strip material moves continuously along the conveying direction between multiple conveying sections and is subjected to longitudinal tension during the conveying process. The conveying equipment cluster includes multiple conveying sections arranged in sequence, tension sensors installed between adjacent conveying sections, a floating roller buffer section for temporarily storing the continuous flexible strip material, and downstream slitting equipment for performing slitting operations;

[0064] At the moment corresponding to the production specification switching command, the control center initializes the leading edge and trailing edge of the mixing transition zone to the same physical coordinates, and sets the initial length of the mixing transition zone to zero. After the difference in linear velocity between adjacent conveying sections and the elastic deformation of materials cause a positional difference between the leading edge and trailing edge, the spatial interval between the leading edge and trailing edge is determined as the spatial interval of the mixing transition zone.

[0065] Specifically, it includes the following steps:

[0066] S10. Collect the spindle speed and cross-section tension of the conveying equipment cluster and synchronize them in time. Analyze the linear velocity difference and tension change rate, and integrate them to form batch change transmission characteristics. Determine the spatial range of the mixed transition zone based on the batch change transmission characteristics. Perform cross-section coordinate conversion on the boundary of the spatial range to obtain the boundary evolution path.

[0067] The process involves collecting and synchronizing the spindle speed and span tension of the conveyor cluster, analyzing the linear velocity difference and tension change rate, and integrating them to form batch-change transmission characteristics. The process of determining the spatial range of the mixing transition zone based on these batch-change transmission characteristics is as follows:

[0068] S101. Collect the spindle speed and cross-section tension of each conveying section, and perform time synchronization processing to obtain the underlying drive sequence;

[0069] Specifically, the method for performing timing synchronization is as follows:

[0070] After receiving the production specification switching command, the control center reads the spindle speed of the servo motors in each conveyor section in real time;

[0071] Synchronously read the real-time tension value output by the tension sensor installed between the adjacent upstream and downstream conveyors;

[0072] The control center uses a unified system clock to add timestamps to the spindle speed and real-time tension values. The unified sampling period is determined by the shorter of the drive controller's control update period and the tension sensor's effective sampling period.

[0073] The control center reads the spindle speed and real-time tension value at the corresponding moment according to a unified sampling period, and arranges them according to the timestamp to form the underlying drive sequence;

[0074] S102. Calculate the actual surface linear velocity of each conveying section, the difference in linear velocity between adjacent conveying sections, and the rate of tension change based on the underlying drive sequence to form batch change transmission characteristics.

[0075] Specifically, the process of determining the batch change transmission characteristics is as follows:

[0076] Read the diameter of the conveyor rollers for each conveyor section from the equipment configuration parameters, calculate the actual surface linear velocity of the corresponding conveyor section based on the circumference of the conveyor rollers and the spindle speed, and use length per second as the unit of speed.

[0077] The difference in linear velocity between adjacent conveying sections is determined by the difference between the actual linear velocity on the surface of the upstream conveying section and the actual linear velocity on the surface of the downstream conveying section.

[0078] The rate of change of tension is determined by the ratio of the difference between the real-time tension values ​​at two adjacent sampling times to a uniform sampling period;

[0079] The actual surface linear velocity of each conveying section, the difference in linear velocity between adjacent conveying sections, the real-time tension value, and the tension change rate are correlated according to timestamps to form batch change transmission characteristics;

[0080] S103. Integrate the time difference between the linear speeds of adjacent conveyor sections during batch change to obtain the basic hysteresis.

[0081] Specifically, the batch changeover period begins when the production specification switching instruction is issued and ends when the adjacent conveyor section completes the speed change and enters the target speed allowable deviation range. The target speed allowable deviation range is determined by the speed stability judgment range configured in the drive controller.

[0082] The linear velocity difference between adjacent conveying sections is integrated in chronological order to obtain the cumulative displacement difference of the batch boundary on adjacent conveying sections, and the absolute length of the cumulative displacement difference is determined as the basic hysteresis.

[0083] S104. Based on the elastic deformation of the material, the basic hysteresis is dynamically compensated, and the spatial range of the mixed transition zone is determined in combination with the batch boundary projection position.

[0084] Specifically, the dynamic compensation method is as follows:

[0085] Steady-state tension samples with the same material specifications as the current material were extracted from historical good product production records. The average value of the steady-state tension samples was determined as the steady-state tension benchmark value. The 2.5% quantile and 97.5% quantile values ​​of the steady-state tension samples arranged from smallest to largest were determined as the lower limit and upper limit of the steady-state tension range, respectively.

[0086] Determine whether the real-time tension value is within the tension steady-state interval formed by the lower limit and the upper limit of the tension steady-state interval; if the real-time tension value is within the tension steady-state interval, determine the basic hysteresis as the initial length of the hybrid transition zone;

[0087] When the real-time tension value is outside the steady-state tension range and the material is within the linear elastic range, the dynamic deformation rate relative to the steady-state production state is determined by the ratio of the difference between the real-time tension value and the steady-state tension reference value to the product of the elastic modulus and the cross-sectional area of ​​the current batch of material.

[0088] The tension compensation coefficient is determined by the sum of the dynamic deformation rate and the value of 1, and the compensation length of the mixed transition zone is determined by the product of the basic hysteresis and the tension compensation coefficient.

[0089] The initial batch boundary corresponding to the batch change instruction is projected according to the cumulative displacement of the adjacent conveying sections. The position in front of the conveying direction is taken as the leading edge boundary, and the position in the rear of the conveying direction is taken as the trailing edge boundary.

[0090] The relative distance between the leading edge boundary and the trailing edge boundary is determined based on the compensation length, thus obtaining the spatial range of the mixed transition zone;

[0091] The process of performing cross-segment coordinate transformation on the boundary of the spatial interval to obtain the boundary evolution path is as follows:

[0092] S105. Establish a cross-section transfer matrix based on the installation position, mechanical clearance distance, and actual surface linear velocity ratio of adjacent conveyor sections;

[0093] Specifically, the process of establishing the cross-segment transition matrix is ​​as follows:

[0094] Identify the local coordinates of the leading edge and trailing edge of the hybrid transition zone within the current transport section;

[0095] Read the coordinate origin, conveying direction, and mechanical clearance distance of adjacent conveyor sections from the production line layout model;

[0096] The surface actual linear velocity ratio is determined by the ratio of the actual surface linear velocity of the downstream conveying section to the actual surface linear velocity of the upstream conveying section.

[0097] Using the actual surface linear velocity ratio as the local displacement scaling term and the distance between the coordinate origins of adjacent conveying sections along the conveying direction as the translation term, a cross-segment transfer matrix in one-dimensional homogeneous coordinate form is established.

[0098] S106. Using the cross-segment transfer matrix, perform cross-segment mapping on the leading edge boundary coordinates and trailing edge boundary coordinates of the spatial interval to obtain the boundary displacement sequence;

[0099] Specifically, homogeneous coordinate transformation is performed on the local coordinates of the leading edge boundary and the trailing edge boundary respectively to convert the local position in the current conveying section into the local position in the downstream conveying section;

[0100] When direct measurement data for mechanical clearance intervals is lacking, linear interpolation rules are established based on the spatial geometric distance from the outlet to the inlet of adjacent conveying sections, combined with the corresponding transit time.

[0101] According to the linear interpolation rule, the discrete time sequence beats corresponding to the time interval are mapped to displacement coordinate points on the spatial geometric distance, so as to obtain the mapping relationship of the boundary positions at both ends of the mechanical clearance;

[0102] Arrange the leading edge and trailing edge boundary positions at each sampling time in chronological order to form a boundary displacement sequence;

[0103] S107. Piecewise curve fitting is performed on the displacement sequences of the leading edge boundary and the displacement sequences of the trailing edge boundary, and continuity constraints are applied to the boundary nodes of adjacent transport sections to obtain the boundary evolution path.

[0104] Specifically, the leading edge boundary displacement sequence and the trailing edge boundary displacement sequence are divided according to the transport section, and the initial dynamic trajectory in each transport section is constructed by cubic B-spline interpolation algorithm.

[0105] The trajectory positions and first spatial derivatives of the initial dynamic trajectories on both sides of the boundary node between adjacent transport sections are compared;

[0106] When the trajectory positions on both sides of the boundary node are inconsistent, the translation term in the cross-segment transition matrix is ​​compensated based on the difference in trajectory positions on both sides of the boundary node.

[0107] When the trajectory positions on both sides of the boundary node are the same but the first spatial derivative is discontinuous, the cubic B-spline curve in the neighborhood of the boundary node is refitted with the constraint that the boundary node positions are the same and the first spatial derivative is continuous, and the neighborhood smooth trajectory is obtained.

[0108] The neighborhood smooth trajectory is spliced ​​with the initial dynamic trajectory in spatial coordinates to generate the continuous correction front boundary trajectory and the rear boundary trajectory.

[0109] The continuous correction of the front boundary trajectory and the trailing boundary trajectory are jointly determined as the boundary evolution path.

[0110] S20. Based on the boundary evolution path, predict the boundary arrival time window of the hybrid transition zone to each key work station; and compare the spatial interval formed by the hybrid transition zone at the key work station with the mechanical action coverage interval to determine the core interference zone.

[0111] The process of predicting the boundary arrival time window of the hybrid transition zone to each key workstation based on the boundary evolution path is as follows:

[0112] S201. Based on the boundary evolution path and the actual surface linear velocity of each conveying section, calculate the time for the leading edge boundary and trailing edge boundary of the mixed transition zone to reach each key station, and obtain the boundary arrival time window.

[0113] Specifically, the method for obtaining the boundary arrival window is as follows:

[0114] Under the unified control reference system of the conveying equipment cluster, the fixed spatial positions of the actual set inspection station, cutting station and packaging station are read from the production line layout model;

[0115] Extract the boundary evolution paths from the initial position of the leading edge boundary to each critical workstation, and the boundary evolution paths from the initial position of the trailing edge boundary to each critical workstation; perform curve space integration on the boundary evolution paths to obtain the total evolution length.

[0116] The actual surface linear velocity of the conveyor section to which the current position of the boundary belongs is read according to the unified sampling period, and the predicted displacement within a single sampling period is determined by the product of the actual surface linear velocity and the unified sampling period.

[0117] The cumulative displacement is obtained by accumulating the predicted displacement in chronological order.

[0118] And determine the difference between the cumulative displacement and the total evolution length; when the difference between the cumulative displacement and the total evolution length is greater than or equal to zero, determine that the boundary has reached the critical position;

[0119] If there is remaining distance in the last sampling period, the supplementary time is determined by the ratio of the remaining distance to the current actual linear velocity of the surface;

[0120] The predicted time for the arrival of the critical workstation at the leading edge boundary and the trailing edge boundary is determined by the sum of the cumulative time of the unified sampling period and the supplementary time. The earlier predicted time is determined as the starting point of the boundary arrival window, and the later predicted time is determined as the ending point of the boundary arrival window.

[0121] The process of determining the core interference zone by comparing the spatial interference between the mixed transition zone formed at key workstations and the mechanical action coverage area is as follows:

[0122] S202. Based on the ratio of the actual surface linear velocity between the upstream conveying section where the mixed transition zone is formed and the conveying section where the key station is located, calculate the dynamic diffusion coefficient and diffusion range of the mixed transition zone at the key station.

[0123] Specifically, the method for calculating the dynamic diffusion coefficient and the station diffusion range is as follows:

[0124] Read the actual surface linear velocity of the upstream conveyor section where the mixed transition zone is formed and the actual surface linear velocity of the conveyor section where the key workstation is located from the batch change transmission characteristics;

[0125] The dynamic diffusion coefficient is determined by the ratio of the actual surface linear velocity of the conveyor section to which the critical work station belongs to the actual surface linear velocity of the upstream conveyor section to which the mixing transition zone is formed.

[0126] The diffusion length of the mixing transition zone when it reaches the critical station is determined by multiplying the compensation length of the mixing transition zone by the dynamic diffusion coefficient.

[0127] Determine the spatial anchor point coordinates of the frontier boundary at key workstations based on the boundary evolution path;

[0128] Along the boundary evolution path, starting from the spatial anchor point coordinates, the path integral length, which is equal to the reverse tracing and diffusion length, is used to obtain the dynamic post-coordinates;

[0129] The spatial range encompassed by the spatial anchor point coordinates and the dynamic post-coordinates is defined as the workstation diffusion range.

[0130] S203. Compare the boundary arrival time window and workstation diffusion range with the action time and action coverage range of the mechanical actuator in a spatiotemporal overlap to determine the core interference zone.

[0131] Specifically, the method for determining the core interference region is as follows:

[0132] The effective length covered by the mechanical actuator corresponding to the key work station along the conveying direction in a single action cycle is defined as the single mechanical action length.

[0133] Based on the action rhythm of the mechanical actuator, determine the mechanical action cycle that overlaps with the boundary arrival time window;

[0134] Extract the spatial coverage intervals corresponding to each mechanical motion cycle that occurs at overlapping times, and determine whether the spatial coverage intervals intersect with the workstation diffusion intervals;

[0135] When the workstation diffusion area completely falls into a spatial coverage area, the spatial coverage area corresponding to the mechanical action cycle is determined as the core interference area;

[0136] When the workstation diffusion range spans multiple continuous mechanical action cycles, starting from the first spatial coverage range that intersects with the workstation diffusion range, spatial coverage ranges are continuously selected until the selection result completely covers the workstation diffusion range, and the union of all selected spatial coverage ranges is determined as the core interference zone.

[0137] Example 2:

[0138] Please see Figure 1 As shown, a method for intelligent control of a conveyor equipment cluster based on multi-parameter collaborative sensing includes the following steps:

[0139] S30. Based on the speed change sequence of adjacent conveyor sections in the core interference zone, determine the speed change trigger node; based on the speed change trigger node and the boundary arrival time window, configure the buffer action of the buffer section and generate the isolation control scheme of the mixed transition zone.

[0140] The process of determining the speed-changing trigger node based on the speed-changing sequence of adjacent transport sections in the core interference zone is as follows:

[0141] S301. Calculate the interference boundary difference between the length of the core interference zone and the length of a single mechanical action, and determine the speed change trigger node of the adjacent conveyor section based on the interference boundary difference.

[0142] Specifically, the method for obtaining the speed change trigger node is as follows:

[0143] Extract the physical coordinates of the two ends of the core interference region and determine the length of the core interference region by the absolute value of the difference between the two ends of the physical coordinates;

[0144] The interference boundary crossing difference is determined by the difference between the length of the core interference region and the length of a single mechanical action;

[0145] The mechanical positioning tolerance along the conveying direction is extracted from the standard motion record of the downstream actuator, and the allowable edge redundancy is extracted from the current batch quality standard. The convergence allowance is determined by the sum of the mechanical positioning tolerance and the allowable edge redundancy.

[0146] When the interference boundary difference is greater than the convergence tolerance, the downstream conveying section is controlled to perform a speed reduction switch first.

[0147] When the actual linear velocity of the current surface of the upstream conveying section is higher than the actual linear velocity of the target surface of the downstream conveying section, the deceleration rate difference is determined by the difference between the actual linear velocity of the current surface of the upstream conveying section and the actual linear velocity of the target surface of the downstream conveying section, and the lag delay of the upstream conveying section is determined by the ratio of the interference boundary difference to the deceleration rate difference.

[0148] According to the cumulative time along the route recorded in S201, calculate the material propagation time required for the material state after speed change to reach the critical station where the core interference zone is located from the upstream conveying section and the downstream conveying section.

[0149] It should be noted that the material propagation time is calculated according to the cumulative method of the time along the path recorded in S201. The starting point of the calculation is the exit position of the corresponding conveying section, and the ending point of the calculation is the key station where the core interference zone is located. The cumulative process uses the actual surface linear velocity of each conveying section along the path.

[0150] The speed change trigger node of the downstream conveyor section is determined by the difference between the starting time of the boundary arrival window and the sum of the corresponding propagation time and the speed change response time calibrated by the drive controller.

[0151] It should be noted that the speed change response time is determined through the debugging records of the drive controller. During the debugging process, a speed change command is sent to the corresponding conveyor section, and the time when the speed change command is issued and the time when the actual surface linear speed enters the target speed allowable deviation range are recorded. The time interval between the two times is determined as the speed change response time, and the target speed allowable deviation range adopts the speed stability judgment range configured in the drive controller.

[0152] The speed change trigger node of the upstream conveyor section is determined by the sum of the speed change trigger node and the lag delay of the downstream conveyor section.

[0153] When the actual linear velocity of the current surface of the upstream conveying section is not higher than the actual linear velocity of the target surface of the downstream conveying section, the misaligned speed change is not performed, and the core interference zone is isolated in a cycle of mechanical actions determined by S203.

[0154] When the interference boundary difference is not greater than the convergence allowance, the same moment after the propagation time and speed change response time compensation is determined as the speed change trigger node of the upstream and downstream conveying sections.

[0155] The process of generating an isolation control scheme for the hybrid transition zone by configuring the buffering actions of the buffering section based on the speed-changing trigger node and the boundary arrival time window is as follows:

[0156] S302. Determine the asynchronous operation range based on the speed change trigger nodes of the upstream and downstream conveying sections, and obtain the duration of the misalignment.

[0157] Specifically, the speed change trigger nodes of the upstream conveying section and the downstream conveying section are extracted, and the duration of the misalignment is determined by the time difference between the later and earlier speed change trigger nodes.

[0158] S303. Calculate the buffer absorption demand based on the difference in linear speed between adjacent conveyor sections during the duration of misalignment.

[0159] Specifically, read the actual surface linear velocity of the upstream and downstream conveyor sections during the duration of the misalignment;

[0160] The difference between the actual linear velocity on the surface of the upstream conveying section and the actual linear velocity on the surface of the downstream conveying section is used to determine the linear velocity difference in each sampling period.

[0161] The length of material that was over-delivered by the upstream conveying section but not consumed in time by the downstream conveying section is determined by the sum of the products of the linear velocity difference in each sampling period and the unified sampling period.

[0162] The length of the material is determined as the amount of buffer absorption required by the buffer section during the batch change period.

[0163] S304. Determine the safe absorption amount and the cut-off overflow amount based on the buffer absorption demand and the remaining allowable stroke of the floating roller;

[0164] Specifically, read the current position coordinates of the floating roller and the coordinates of the safe travel end point configured in the buffer section controller;

[0165] The remaining allowable stroke of the floating roller along the material absorption direction is determined by the straight-line spatial distance between the coordinates of the end point of the safe stroke and the coordinates of the current position of the floating roller.

[0166] It should be noted that the safe travel endpoint is determined by the pre-configured software limit position in the buffer section controller, which is located before the mechanical limit position. The floating roller's action response time is determined through the buffer section's debugging records; the floating roller's action response time is the time interval between the moment the floating roller's movement command is issued and the moment the floating roller begins to generate effective displacement.

[0167] Based on the threading path stored in the buffer section controller, identify the strip segments whose length changes synchronously when the floating roller moves; calculate the increase in path length for each strip segment when the floating roller moves to the end of the safe travel, and add up the increase in path length for each strip segment to obtain the maximum absorbable material length;

[0168] When the buffer absorption demand is no greater than the maximum absorbable material length, the buffer absorption demand is determined as the safe absorption amount, and the truncation overflow amount is determined as zero.

[0169] When the cache absorption demand exceeds the maximum absorbable material length, the maximum absorbable material length is determined as the safe absorption amount, and the difference between the cache absorption demand and the maximum absorbable material length is determined as the truncation overflow amount.

[0170] S305. Generate an isolation control scheme based on the safe absorption capacity, the cut-off overflow capacity, and the boundary arrival window.

[0171] Specifically, based on the belt threading path of the buffer section, the safety absorption amount is converted into the target travel distance of the floating roller;

[0172] The starting point of the boundary arrival time window is determined by the difference between the sum of the propagation time of the material arriving at the buffer section and the action response time of the floating roller drive mechanism.

[0173] At the moment the floating roller is triggered, a command is sent to the drive mechanism of the buffer section to control the floating roller to move to the target position along the material absorption direction;

[0174] When the overflow amount is zero, the floating roller action command is determined as an isolation control scheme;

[0175] When the cutoff overflow is greater than zero, the additional isolation time is determined by the ratio of the cutoff overflow to the feed line speed of the downstream slitting station, and the additional isolation time is added to the cutting isolation command of the downstream slitting equipment to form an isolation control scheme with buffered stroke constraints.

[0176] It should be noted that, as Figure 3 As shown in the linear velocity curve of the transmission surface, after determining the speed switching trigger node based on the core interference zone, this system forces the downstream conveying section to trigger the speed reduction switch first at the 3rd second, while the upstream conveying section maintains high-speed operation and triggers the speed reduction at the 6th second. The misaligned arrangement directly forms a misalignment duration of up to 3 seconds.

[0177] Within the asynchronous operation range, such as Figure 3 As shown in the lower half of the material physical displacement curve, due to the cascade speed difference between adjacent equipment, the cumulative throughput of the buffer section increases rapidly with time integral. Since the throughput does not exceed the maximum physical extension limit, the system fully utilizes the floating roller combined with the boundary arrival time window to configure the buffer action, thereby generating an isolation control scheme without increasing the mechanical collision risk, and achieving effective convergence and isolation of batch waste in physical space.

[0178] Example 3:

[0179] Please see Figure 1 and Figure 2 As shown, a method for intelligent control of a conveyor equipment cluster based on multi-parameter collaborative sensing includes the following steps:

[0180] S40. During the restricted execution phase of the isolation control scheme, the amplitude of the tension jump is collected, and the secondary damage caused by the isolation action is determined based on the material fracture limit; the isolation control scheme is reconstructed based on the secondary damage determination results to obtain a flexible correction strategy.

[0181] The process of collecting tension jump amplitude values ​​during the restricted execution phase of the isolation control scheme and determining the secondary damage caused by the isolation action based on the material fracture limit is as follows:

[0182] S401. During the speed change transition phase at the start of the isolation control scheme, dynamic tension is collected and the tension jump amplitude is obtained after signal filtering.

[0183] Specifically, the control center sends the isolation control scheme to the underlying drive nodes and simultaneously starts tension monitoring when the speed change action begins;

[0184] The real-time tension value of the material is collected by tension sensors installed between adjacent conveyor sections, and the steady-state tension reference value during the stable operation phase before the speed change action is triggered is read.

[0185] The cutoff frequency of the low-pass filter is calibrated based on the effective fluctuation frequency band of the stable operating tension signal and the noise frequency band of the tension sensor, so that the tension change frequency band corresponding to the speed change action is preserved and the high-frequency measurement noise is attenuated.

[0186] The real-time tension value is low-pass filtered, and the tension peak value during the speed change transition is extracted.

[0187] The difference between the peak tension value and the steady-state tension reference value is used to determine the tension jump amplitude caused by the speed change action;

[0188] S402. Establish the upper limit of allowable tensile force based on the ultimate tensile strength, cross-sectional area, and fatigue reduction factor of the current batch of materials, and determine the risk of secondary damage based on the peak tension.

[0189] Specifically, the methods for establishing the permissible tensile force limit and determining the risk of secondary damage are as follows:

[0190] Extract the ultimate tensile strength and cross-sectional area of ​​the current batch of materials measured in the factory tensile test;

[0191] The fatigue reduction factor of the material is extracted from the strength test records of the same material after repeated bending and tensioning along the same roller path;

[0192] The upper limit of allowable tensile force is determined by the product of ultimate tensile strength, cross-sectional area of ​​the material, and fatigue reduction factor of the material.

[0193] The tensile safety margin is determined by the difference between the upper limit of the allowable tensile force and the peak tension obtained in S401;

[0194] When the tensile safety margin is not greater than zero, it is determined that the isolation control action may cause material fracture or irreversible deformation, thus identifying a risk of secondary damage.

[0195] When the tensile safety margin is greater than zero, it is determined that the peak tension does not exceed the upper limit of the allowable tensile force, and it is determined that there is no risk of secondary damage identified based on the upper limit of the allowable tensile force.

[0196] The process of reconstructing the isolation control scheme based on the secondary damage assessment results to obtain the flexible correction strategy is as follows:

[0197] When there is a risk of secondary damage, reduce the moving speed and acceleration of the floating roller within the control range allowed by the drive mechanism of the buffer section, and advance the trigger time of the floating roller action according to the reduced action duration, so that the floating roller completes the target moving stroke corresponding to the safe absorption amount before the time start of the boundary arrival window.

[0198] After reducing the floating roller's moving speed and acceleration, continue to collect the tension peak value according to S401. If the tension peak value still exceeds the upper limit of the allowable tension, reduce the target moving stroke of the floating roller, and convert the reduced floating roller stroke into the length of unabsorbed material according to the belt threading path of the buffer section;

[0199] The additional isolation time is determined by the ratio of the length of unabsorbed material to the feed line speed of the downstream slitting station, and the additional isolation time is added to the cutting isolation command of the downstream slitting equipment to form a flexible correction strategy with anti-breakage protection.

[0200] When there is no risk of secondary damage, the speed change trigger node, floating roller target travel and cutting isolation command in the isolation control scheme remain unchanged, and the isolation control scheme is determined to be a flexible correction strategy.

[0201] The foregoing has provided a detailed description of one embodiment of the present invention, but this description is merely a preferred embodiment and should not be construed as limiting the scope of the invention. All equivalent variations and modifications made within the scope of the present invention should still fall within the scope of the present invention.

Claims

1. A method for intelligent control of a conveyor equipment cluster based on multi-parameter collaborative sensing, characterized in that, Includes the following steps: The main shaft speed and cross-section tension of the conveyor equipment cluster are collected and synchronized in time. The linear velocity difference and tension change rate are analyzed and integrated to form batch change transmission characteristics. Based on the batch change transmission characteristics, the spatial range of the mixed transition zone is determined. The cross-section coordinate conversion of the boundary of the spatial range is performed to obtain the boundary evolution path. Based on the boundary evolution path, predict the boundary arrival window of the hybrid transition zone to each key work station; and compare the spatial interference between the spatial interval formed by the hybrid transition zone at the key work station and the mechanical action coverage interval to determine the core interference zone. Based on the speed change sequence of adjacent conveyor sections in the core interference zone, determine the speed change trigger node; based on the speed change trigger node and the boundary arrival time window, configure the buffer action of the buffer section, and generate an isolation control scheme for the mixed transition zone. During the restricted execution phase of the isolation control scheme, the amplitude of the tension jump is collected, and the secondary damage caused by the isolation action is determined based on the material fracture limit. The isolation control scheme is reconstructed based on the secondary damage determination results to obtain a flexible correction strategy.

2. The intelligent control method for a cluster of conveying equipment based on multi-parameter collaborative sensing according to claim 1, characterized in that: The process of performing the cross-segment coordinate conversion is as follows: Establish a cross-section transfer matrix by obtaining the installation position, mechanical clearance distance, and actual surface linear velocity ratio of adjacent conveyor sections; The boundary displacement sequence is obtained by using a cross-segment transfer matrix to perform cross-segment mapping on the leading edge boundary coordinates and trailing edge boundary coordinates of the spatial interval; Piecewise curve fitting was performed on the displacement sequences of the leading edge boundary and the displacement sequences of the trailing edge boundary, and continuity constraints were applied to the boundary nodes of adjacent transport sections to obtain the boundary evolution path.

3. The intelligent control method for a cluster of conveying equipment based on multi-parameter collaborative sensing according to claim 2, characterized in that: The process of obtaining the spatial interval is as follows: The spindle speed and cross-section tension of each conveying section are collected and time-synchronized to obtain the underlying drive sequence. The actual surface linear velocity of each conveying section, the difference in linear velocity between adjacent conveying sections, and the rate of tension change are calculated based on the underlying drive sequence to form batch change transmission characteristics. The basic hysteresis is obtained by integrating the difference in linear velocity between adjacent conveyor sections during batch changeover. The basic hysteresis is dynamically compensated based on the elastic deformation of the material, and the spatial range of the mixed transition zone is determined by combining the batch boundary projection position.

4. The intelligent control method for a cluster of conveying equipment based on multi-parameter collaborative sensing according to claim 2, characterized in that: The process of implementing the aforementioned continuity constraint is as follows: The leading edge boundary displacement sequence and the trailing edge boundary displacement sequence are divided according to the transport section, and the initial dynamic trajectory in each transport section is constructed by cubic B-spline interpolation algorithm. The trajectory positions and first spatial derivatives of the initial dynamic trajectories on both sides of the boundary node between adjacent transport sections are compared; When the trajectory positions on both sides of the boundary node are the same but the first spatial derivative is discontinuous, the cubic B-spline curve in the neighborhood of the boundary node is refitted with the constraint that the boundary node positions are the same and the first spatial derivative is continuous, and the neighborhood smooth trajectory is obtained. The neighborhood smooth trajectory is spliced ​​with the initial dynamic trajectory in spatial coordinates to generate the continuous correction front boundary trajectory and the rear boundary trajectory. The continuous correction of the front boundary trajectory and the trailing boundary trajectory are jointly determined as the boundary evolution path.

5. The intelligent control method for a cluster of conveying equipment based on multi-parameter collaborative sensing according to claim 1, characterized in that: The process of performing the aforementioned spatial interferometric comparison is as follows: Extract the actual surface linear velocity ratio between the upstream conveying section where the mixing transition zone is formed and the conveying section where the key station is located, and calculate the dynamic diffusion coefficient and diffusion range of the mixing transition zone at the key station. By comparing the boundary arrival time window and workstation diffusion range with the action time and action coverage range of the mechanical actuator in a spatiotemporal overlap, the core interference zone is determined.

6. The intelligent control method for a conveyor equipment cluster based on multi-parameter collaborative sensing according to claim 5, characterized in that: The process of establishing the boundary arrival window is as follows: Based on the total evolution length of the boundary evolution path, the actual surface linear velocity of the conveyor segment to which the current boundary position belongs is read according to a unified sampling period; The predicted displacement within a single sampling period is determined by multiplying the actual surface linear velocity by the uniform sampling period; The cumulative displacement is obtained by accumulating the predicted displacement in chronological order. If the difference between the cumulative displacement and the total evolution length is greater than or equal to zero, the boundary is determined to have reached the critical position. If there is a remaining distance in the last sampling period, the supplementary time is determined by the ratio of the remaining distance to the current actual linear velocity of the surface; The predicted time to reach the critical workstation from the leading edge boundary and the trailing edge boundary is determined by the sum of the cumulative time of the unified sampling period and the supplementary time. The earlier prediction time is selected from the two prediction times as the starting point of the boundary arrival window, and the later prediction time is selected as the ending point of the boundary arrival window.

7. The intelligent control method for a cluster of conveying equipment based on multi-parameter collaborative sensing according to claim 1, characterized in that: The process of generating the isolation control scheme is as follows: The asynchronous operation range is determined by obtaining the speed change trigger nodes of the upstream and downstream conveying sections, and the duration of the misalignment is obtained. Calculate the buffer absorption demand based on the difference in linear velocity between adjacent transport segments during the duration of the misalignment; Read the remaining allowable stroke of the floating roller, and determine the safe absorption amount and the cut-off overflow amount based on the buffer absorption demand and the remaining allowable stroke of the floating roller; An isolation control scheme is generated based on the safe absorption capacity, the cut-off overflow capacity, and the boundary arrival time window.

8. The intelligent control method for a conveyor equipment cluster based on multi-parameter collaborative sensing according to claim 7, characterized in that: The process of identifying the speed-changing trigger node is as follows: Calculate the interference boundary difference between the length of the core interference zone and the length of a single mechanical action, and determine the speed change trigger node of the adjacent conveyor section based on the interference boundary difference.

9. The intelligent control method for a cluster of conveying equipment based on multi-parameter collaborative sensing according to claim 1, characterized in that: The process of reconstructing the isolation control scheme is as follows: When there is a risk of secondary damage, the moving speed and acceleration of the floating roller, as well as the triggering time of the floating roller action, are adjusted within the control range allowed by the drive mechanism of the buffer section, so that the floating roller completes the target moving stroke corresponding to the safe absorption amount before the time window of the boundary is reached. When there is no risk of secondary damage, the speed change trigger node, floating roller target travel and cutting isolation command in the isolation control scheme remain unchanged, and the isolation control scheme is determined to be a flexible correction strategy.

10. The intelligent control method for a cluster of conveying equipment based on multi-parameter collaborative sensing according to claim 9, characterized in that: The process for determining the risk of secondary damage is as follows: Dynamic tension is collected during the speed change transition phase at the start of the isolation control scheme, and the tension jump amplitude is obtained after signal filtering. The upper limit of allowable tensile force is established based on the ultimate tensile strength, cross-sectional area, and fatigue reduction factor of the current batch of materials, and the risk of secondary damage is determined based on the peak tension.

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