CN109746405B - Automatic control method and device for casting blank roller way, terminal equipment and storage medium - Google Patents
Automatic control method and device for casting blank roller way, terminal equipment and storage medium Download PDFInfo
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Abstract
The application is suitable for the technical field of automatic control, and provides a method, a device, terminal equipment and a storage medium for automatic control of a casting blank roller way, wherein the method comprises the following steps: acquiring a roller way image; when the roller way image comprises a casting blank, acquiring position information of the casting blank in the roller way image; and controlling the operation of the roller way according to the position information of the casting blank. The automatic control method for the casting blank roller way, provided by the embodiment of the application, can realize full-automatic control on the casting blank roller way, avoids manual operation on the casting blank roller way, is beneficial to reducing labor intensity, and solves the problem that manual operation is easy to cause errors in the prior art.
Description
Technical Field
The application belongs to the technical field of automatic control, and particularly relates to a method and a device for automatically controlling a casting blank roller way, a terminal device and a storage medium.
Background
The rollgang is a necessary and important device for continuous casting production, and the rollgang is manually started and stopped in a conveying operation room. An operator needs to operate dozens of buttons on the operating table, and due to the fact that the number of the buttons is large, misoperation is prone to occurring, and therefore production faults are caused. In addition, in the knockout operating room, a plurality of workers need to operate alternately, the average operating time of each worker in each shift is up to three to four hours, and the whole operating process is influenced by high-temperature environment, the labor intensity is very high, fatigue operation is easy to occur, and the misoperation is caused.
Disclosure of Invention
In view of this, embodiments of the present application provide a method and an apparatus for automatically controlling a casting blank roller bed, a terminal device, and a storage medium, so as to solve the problem in the prior art that an error is easily caused by manual operation.
According to a first aspect, an embodiment of the present application provides a method for automatically controlling a casting blank roller bed, including: acquiring a roller way image; when the roller way image comprises a casting blank, acquiring position information of the casting blank in the roller way image; and controlling the operation of the roller way according to the position information of the casting blank.
According to the automatic control method for the casting blank roller way, whether a casting blank exists on the roller way is identified through roller way images, and the position of the casting blank is further identified when the casting blank exists on the roller way, so that the operation of the roller way is controlled, the casting blank is sent to a casting blank separation treatment working chamber, or the casting blank subjected to separation treatment is sent to the next link on a production line. The automatic control method for the casting blank roller way, provided by the embodiment of the application, can realize full-automatic control on the casting blank roller way, avoids manual operation on the casting blank roller way, is beneficial to reducing labor intensity, and solves the problem that manual operation is easy to cause errors in the prior art.
With reference to the first aspect, in a first embodiment of the first aspect, the acquiring position information of the casting blank in the roller way image includes: acquiring a corresponding first proportion of the casting blank in the roller way image; and calculating the position information of the casting blank according to the first proportion and a preset calculation model.
According to the automatic control method for the casting blank roller way, the position information of the casting blank is obtained through calculation according to the first proportion by utilizing the characteristics that the first proportion of the casting blank in the roller way image corresponds to the proportion of the casting blank in the actual roller way and is equal to the proportion of the casting blank in the actual roller way in terms of value, and therefore automatic operation control over the casting blank roller way is achieved.
In combination with the first embodiment of the first aspect, in the second embodiment of the first aspect
Calculating the first ratio: wherein, γ1Is the first ratio, L1Is the distance, L, between the casting blank in the roller way image and a preset image coordinate origin0The length of the roller way in the roller way image is shown.
According to the automatic control method for the casting blank roller way, the corresponding first proportion of the casting blank in the roller way image is calculated by utilizing the casting blank in the casting blank image and the image coordinate origin, and the first proportion of the casting blank can be conveniently and reliably calculated.
With reference to the second embodiment of the first aspect, in a third embodiment of the first aspect, the acquiring position information of the casting blank in the roller way image further includes: and acquiring a preset calculation model.
According to the automatic control method for the casting blank roller way, after the first proportion of the casting blank is obtained through calculation, the position information of the casting blank is further obtained through calculation by using the preset calculation model, and therefore a basis is provided for further controlling the operation of the roller way according to the position information of the casting blank in the subsequent step.
With reference to the third implementation manner of the first aspect, in a fourth implementation manner of the first aspect, the obtaining a preset calculation model includes: acquiring an original calculation model and measured data of a plurality of test points arranged on the roller way; the measured data of any test point comprises a second proportion corresponding to any test point and the distance between any test point and a preset roller way coordinate origin; the roller way coordinate origin corresponds to the image coordinate origin; and calculating each parameter in the original calculation model according to the measured data.
According to the automatic control method for the casting blank roller way, each parameter in the original calculation model is reversely calculated through the measured data of the plurality of test points, so that the calculation model corresponding to the measured data is obtained through calculation, and the calculation model can be reliably used for calculating the position of the casting blank in the subsequent steps.
With reference to the fourth embodiment of the first aspect, in the fifth embodiment of the first aspect
l＝a·γ2 4+b·γ2 3+c·γ2 2+d·γ2+f
Constructing the original calculation model; wherein a, b, c, d and f are parameters in the original calculation model, and gamma is2And l is the distance between any test point and a preset roller way coordinate origin.
According to the automatic control method for the casting blank roller way, the calculation model is constructed through the unitary quartic equation, so that the position information of the casting blank is conveniently and reliably calculated through the unitary quartic equation.
According to a second aspect, the embodiment of the present application provides a casting blank roller table automatic control device, including: the image acquisition unit is used for acquiring a roller way image; the position information acquisition unit is used for acquiring the position information of the casting blank in the roller way image when the roller way image comprises the casting blank; and the roller way control unit is used for controlling the operation of the roller way according to the position information of the casting blank.
According to a third aspect, an embodiment of the present application provides an automatic control device for a casting blank roller bed, including: the camera is used for acquiring a roller way image; the server is used for identifying whether the roller way image comprises a casting blank or not; when the roller way image comprises a casting blank, the server is further used for acquiring the position information of the casting blank in the roller way image and generating a corresponding control instruction according to the position information of the casting blank; the PLC is used for receiving the control instruction sent by the server and generating a corresponding control signal according to the control instruction; and the motor is used for receiving the control signal sent by the PLC and driving the roller way to execute corresponding actions.
According to a fourth aspect, an embodiment of the present application provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the method according to the first aspect or any embodiment of the first aspect when executing the computer program.
According to a fifth aspect, embodiments of the present application provide a computer-readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the steps of the method according to the first aspect or any of the embodiments of the first aspect.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic flow chart illustrating an implementation of a specific example of a method for automatically controlling a casting blank roller bed according to an embodiment of the present application;
fig. 2 is a schematic flow chart illustrating implementation of another specific example of the automatic control method for a casting blank roller bed provided in the embodiment of the present application;
fig. 3 is a schematic structural diagram of a specific example of the automatic control device for a casting blank roller bed according to the embodiment of the present application;
fig. 4 is a schematic structural diagram of another specific example of the automatic control device for a casting blank roller bed according to the embodiment of the present application;
fig. 5 is a schematic structural diagram of a specific example of a terminal device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
In order to explain the technical solution described in the present application, the following description will be given by way of specific examples.
The embodiment of the invention provides a method for automatically controlling a casting blank roller way, which comprises the following steps of:
step S101: and acquiring a roller way image. In a specific embodiment, a camera fixedly arranged near the roller way can be used for collecting the roller way image. The relative position of the roller way and the camera is kept fixed, so that the roller way coordinate origin on the roller way corresponds to the image of the roller way coordinate origin on the roller way image, and the image of the roller way coordinate origin on the roller way image can be set as the image coordinate origin in the roller way image.
Step S102: and identifying whether the roller way image comprises a casting blank. When the roller way image comprises a casting blank, executing the step S103; when the roller way image does not include the casting blank, the step S101 is returned to, or no operation is performed. In a specific embodiment, the roller way image can be processed in real time through a corrosion and expansion algorithm of morphological open operation, so as to identify the casting blank therein.
Step S103: and acquiring the position information of the casting blank in the roller way image. In one embodiment, as shown in fig. 2, the process of step S103 can be implemented by the following sub-steps:
step S1031: and acquiring a corresponding first proportion of the casting blank in the roller way image. Specifically, the first ratio can be calculated by equation (1):
wherein, γ1Is the corresponding first proportion, L, of the casting blank in the roller table image1Is the distance, L, between the casting blank in the roller way image and the preset image coordinate origin0The length of the roller way in the roller way image.
Step S1032: and calculating the position information of the casting blank according to the first proportion and a preset calculation model. In one embodiment, the position information of the casting slab may be calculated by formula (2):
y＝a·γ1 4+b·γ1 3+c·γ1 2+d·γ1+f (2)
wherein a, b, c, d and f are all parameters in a preset calculation model, and gamma is1The position information of the casting blank is the corresponding first proportion of the casting blank in the roller way image, and y is the distance between the casting blank and the preset roller way coordinate origin and corresponds to the position information of the casting blank.
Optionally, before the substep S1031, the following substeps may be added:
step S1033: and acquiring a preset calculation model. In a specific embodiment, the original calculation model and the measured data of the plurality of test points arranged on the roller way may be obtained first, then each parameter in the original calculation model is obtained through reverse calculation according to each measured data, and finally each parameter obtained through calculation is brought into the original calculation model, so as to obtain the calculation model for calculating the position information of the casting blank. The measured data of any test point comprises a second proportion corresponding to the test point and the distance between the test point and a preset roller way coordinate origin. The roller way and the camera for acquiring the roller way image are always kept in a relatively stable position relation, so that the roller way coordinate origin corresponds to the image coordinate origin, and the second proportion of any test point on the roller way is equal to the first proportion of the test point on the roller way image in numerical value. In a specific embodiment, the second ratio γ corresponding to any test point on the roller table can be calculated by using the formula (1)2. Calculating a second proportion gamma corresponding to any test point on the roller table by using the formula (1)2The distance L between the test point and the origin of the roll table coordinate can be used2Instead of the molecule L in formula (1)1(ii) a The actual length of the roller way is used to replace the denominator L in the formula (1)0。
To obtain the calculation model shown in equation (2), an original calculation model as shown in equation (3) may be constructed in advance:
l＝a·γ2 4+b·γ2 3+c·γ2 2+d·γ2+f (3)
wherein a, b, c, d and f are all parameters in the original calculation model, gamma2And l is the distance between the test point and the preset roller way coordinate origin.
Step S104: and controlling the operation of the roller way according to the position information of the casting blank. In a specific embodiment, the operation of the roller way loaded with the corresponding casting blank can be controlled according to a pre-stored roller way operation control table and by combining the casting blank position information obtained through calculation. Specifically, after the distance y between the casting blank and the original point of the roller coordinate is obtained according to the position information of the casting blank, a pre-stored roller running control table can be inquired, so that the corresponding roller is controlled to run forwards or backwards. In the roller way operation control table, the distance y may be divided into a plurality of segments, and when the distance y obtained by actual calculation falls into one of the segments, corresponding roller way operations of the segment are correspondingly executed, which may include forward or backward operation of the roller way, and the operation speed of the roller way, etc.
According to the automatic control method for the casting blank roller way, whether a casting blank exists on the roller way is identified through roller way images, and the position of the casting blank is further identified when the casting blank exists on the roller way, so that the operation of the roller way is controlled, the casting blank is sent to a casting blank separation treatment working chamber, or the casting blank subjected to separation treatment is sent to the next link on a production line. The automatic control method for the casting blank roller way, provided by the embodiment of the application, can realize full-automatic control on the casting blank roller way, avoids manual operation on the casting blank roller way, is beneficial to reducing labor intensity, and solves the problem that manual operation is easy to cause errors in the prior art.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
The embodiment of the application also provides a casting blank roller way automatic control device, as shown in fig. 3, the casting blank roller way automatic control device can include: an image acquisition unit 301, a position information acquisition unit 302 and a roller way control unit 303.
The image acquisition unit 301 is used for acquiring a roller way image; the corresponding working process can be referred to as step S101 in the above method embodiment.
When the roller way image includes a casting blank, the position information acquiring unit 302 is configured to acquire position information of the casting blank in the roller way image; the corresponding working process can be referred to the steps S102 to S103 in the above method embodiment.
The roller way control unit 303 is used for controlling the operation of the roller way according to the position information of the casting blank; the corresponding working process can be referred to as step S104 in the above method embodiment.
The embodiment of the application also provides another automatic control device for the casting blank roller way, and as shown in fig. 4, the automatic control device for the casting blank roller way can comprise: camera 401, server 402, PLC controller 403 and motor 404.
The camera 401 is used for acquiring a roller bed image; the corresponding working process can be referred to as step S101 in the above method embodiment.
The server 402 is used for identifying whether the roller bed image comprises a casting blank; when the roller way image comprises a casting blank, the server 402 is further configured to obtain position information of the casting blank in the roller way image, and generate a corresponding control instruction according to the position information of the casting blank; the corresponding working process can be referred to the steps S102 to S103 in the above method embodiment.
The PLC controller 403 is configured to receive a control instruction sent by the server, and generate a corresponding control signal according to the control instruction; the motor 404 is configured to receive a control signal sent by the PLC controller, and drive the roller table to perform a corresponding action. The working process of the PLC controller 403 and the motor 404 can be referred to as step S104 in the above method embodiment. The PLC controller 403 may also feed back the control signal sent by the PLC controller to the server 402, so that the server 402 can know the actual operation information of the PLC controller 403 and the motor 404 in real time.
Fig. 5 is a schematic diagram of a terminal device according to an embodiment of the present application. As shown in fig. 5, the terminal device 500 of this embodiment includes: a processor 501, a memory 502 and a computer program 503, such as a strand table automation program, stored in the memory 502 and executable on the processor 501. The processor 501 executes the computer program 503 to implement the steps in each of the above-described embodiments of the method for automatically controlling a casting block roller table, for example, steps S101 to S104 shown in fig. 1. Alternatively, the processor 501 executes the computer program 503 to implement the functions of the modules/units in the above-mentioned apparatus embodiments, such as the functions of the image acquisition unit 301, the position information acquisition unit 302, and the roller way control unit 303 shown in fig. 3.
The computer program 503 may be partitioned into one or more modules/units that are stored in the memory 502 and executed by the processor 501 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program 503 in the terminal device 500. For example, the computer program 503 may be divided into a synchronization module, a summarization module, an acquisition module, a return module (a module in a virtual device).
The terminal device 500 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The terminal device may include, but is not limited to, a processor 501, a memory 502. Those skilled in the art will appreciate that fig. 5 is merely an example of a terminal device 500 and is not intended to limit the terminal device 500 and may include more or fewer components than those shown, or some components may be combined, or different components, for example, the terminal device may also include input output devices, network access devices, buses, etc.
The Processor 501 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 502 may be an internal storage unit of the terminal device 500, such as a hard disk or a memory of the terminal device 500. The memory 502 may also be an external storage device of the terminal device 500, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the terminal device 500. Further, the memory 502 may also include both an internal storage unit and an external storage device of the terminal device 500. The memory 502 is used for storing the computer programs and other programs and data required by the terminal device. The memory 502 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. . Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (5)
1. An automatic control method for a casting blank roller way is characterized by comprising the following steps:
acquiring a roller way image;
when the roller way image comprises a casting blank, acquiring position information of the casting blank in the roller way image;
controlling the operation of the roller way according to the position information of the casting blank;
the acquiring of the position information of the casting blank in the roller way image comprises the following steps:
acquiring a corresponding first proportion of the casting blank in the roller way image and a preset calculation model; wherein the content of the first and second substances,
by passing
Calculating the first ratio;
in the formula, gamma1Is the first ratio, L1Is the distance, L, between the casting blank in the roller way image and a preset image coordinate origin0The length of the roller way in the roller way image is taken as the length of the roller way;
the preset calculation model comprises:
y＝a·γ1 4+b·γ1 3+c·γ1 2+d·γ1+f
wherein a, b, c, d and f are all parameters in a preset calculation model, and gamma is1The first ratio is obtained, y is the distance between a casting blank and a preset roller table coordinate origin and corresponds to the position information of the casting blank;
calculating the position information of the casting blank according to the first proportion and a preset calculation model;
calculating parameters in the preset calculation model, including:
acquiring an original calculation model and measured data of a plurality of test points arranged on the roller way; the measured data of any test point comprises a second proportion corresponding to any test point and the distance between any test point and a preset roller way coordinate origin; the roller way coordinate origin corresponds to the image coordinate origin;
calculating each parameter in the original calculation model according to the measured data;
taking each parameter in the original calculation model as a parameter in the preset calculation model;
wherein by
l＝a·γ2 4+b·γ2 3+c·γ2 2+d·γ2+f
Constructing the original calculation model;
wherein a, b, c, d and f are parameters in the original calculation model, and gamma is2A second proportion corresponding to any test point, wherein l is the distance between any test point and a preset roller way coordinate origin; and the second proportion is the ratio of the distance between any test point and a preset roller way coordinate origin to the actual length of the roller way.
2. The utility model provides a casting blank roll table automatic control device which characterized in that includes:
the image acquisition unit is used for acquiring a roller way image;
the position information acquisition unit is used for acquiring the position information of the casting blank in the roller way image when the roller way image comprises the casting blank; the acquiring of the position information of the casting blank in the roller way image comprises the following steps:
acquiring a corresponding first proportion of the casting blank in the roller way image and a preset calculation model; wherein the content of the first and second substances,
by passing
Calculating the first ratio;
in the formula, gamma1Is the first ratio, L1Is the distance, L, between the casting blank in the roller way image and a preset image coordinate origin0The length of the roller way in the roller way image is taken as the length of the roller way;
the preset calculation model comprises:
y＝a·γ1 4+b·γ1 3+c·γ1 2+d·γ1+f
wherein a, b, c, d and f are all parameters in a preset calculation model, and gamma is1The first ratio is obtained, y is the distance between a casting blank and a preset roller table coordinate origin and corresponds to the position information of the casting blank;
calculating parameters in the preset calculation model, including:
acquiring an original calculation model and measured data of a plurality of test points arranged on the roller way; the measured data of any test point comprises a second proportion corresponding to any test point and the distance between any test point and a preset roller way coordinate origin; the roller way coordinate origin corresponds to the image coordinate origin;
calculating each parameter in the original calculation model according to the measured data;
taking each parameter in the original calculation model as a parameter in the preset calculation model;
wherein by
l＝a·γ2 4+b·γ2 3+c·γ2 2+d·γ2+f
Constructing the original calculation model;
wherein a, b, c, d and f are parameters in the original calculation model, and gamma is2A second proportion corresponding to any test point, wherein l is the distance between any test point and a preset roller way coordinate origin; the second proportion is the ratio of the distance between any one test point and a preset roller way coordinate origin to the actual length of the roller way;
calculating the position information of the casting blank according to the first proportion and a preset calculation model;
and the roller way control unit is used for controlling the operation of the roller way according to the position information of the casting blank.
3. The utility model provides a casting blank roll table automatic control device which characterized in that includes:
the camera is used for acquiring a roller way image;
the server is used for identifying whether the roller way image comprises a casting blank or not; when the roller way image comprises a casting blank, the server is further used for acquiring the position information of the casting blank in the roller way image and generating a corresponding control instruction according to the position information of the casting blank; the acquiring of the position information of the casting blank in the roller way image comprises the following steps:
acquiring a corresponding first proportion of the casting blank in the roller way image and a preset calculation model; wherein the content of the first and second substances,
by passing
Calculating the first ratio;
in the formula, gamma1Is the first ratio, L1Is the distance, L, between the casting blank in the roller way image and a preset image coordinate origin0The length of the roller way in the roller way image is taken as the length of the roller way;
the preset calculation model comprises:
y＝a·γ1 4+b·γ1 3+c·γ1 2+d·γ1+f
wherein a, b, c, d and f are all parameters in a preset calculation model, and gamma is1The first ratio is obtained, y is the distance between a casting blank and a preset roller table coordinate origin and corresponds to the position information of the casting blank;
calculating parameters in the preset calculation model, including:
acquiring an original calculation model and measured data of a plurality of test points arranged on the roller way; the measured data of any test point comprises a second proportion corresponding to any test point and the distance between any test point and a preset roller way coordinate origin; the roller way coordinate origin corresponds to the image coordinate origin;
calculating each parameter in the original calculation model according to the measured data;
taking each parameter in the original calculation model as a parameter in the preset calculation model;
wherein by
l＝a·γ2 4+b·γ2 3+c·γ2 2+d·γ2+f
Constructing the original calculation model;
wherein a, b, c, d and f are parameters in the original calculation model, and gamma is2A second proportion corresponding to any test point, wherein l is the distance between any test point and a preset roller way coordinate origin; wherein, the second proportion is the ratio of the distance between any test point and the preset roller way coordinate origin to the actual length of the roller way
Calculating the position information of the casting blank according to the first proportion and a preset calculation model;
the PLC is used for receiving the control instruction sent by the server and generating a corresponding control signal according to the control instruction;
and the motor is used for receiving the control signal sent by the PLC and driving the roller way to execute corresponding actions.
4. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method as claimed in claim 1 when executing the computer program.
5. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method as set forth in claim 1.
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| CN110340322B (en) * | 2019-08-22 | 2022-01-18 | 联峰钢铁（张家港）有限公司 | Method and device for automatic casting in continuous casting |
| CN111112565B (en) * | 2020-01-15 | 2021-11-05 | 首钢京唐钢铁联合有限责任公司 | Method for quickly replacing peritectic steel tundish |
| CN112264595B (en) * | 2020-10-23 | 2022-04-12 | 河北凯昌科技有限公司 | Continuous casting blank fixed-weight cutting control system and control method of multi-flow single scale |
| CN114029348B (en) * | 2021-11-09 | 2023-07-28 | 中冶南方工程技术有限公司 | Automatic steel billet splitting system |
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| JP2012045601A (en) * | 2010-08-30 | 2012-03-08 | Jfe Steel Corp | Method for detecting burr of slab, and slab treatment method |
| CN202784733U (en) * | 2012-08-31 | 2013-03-13 | 浙江中产科技有限公司 | Automatic scheduling system for roller monitoring |
| CN104112140B (en) * | 2013-04-19 | 2017-08-25 | 宝山钢铁股份有限公司 | Strand image accurate positioning device and localization method |
| CN108188367B (en) * | 2018-03-21 | 2024-02-02 | 山东钢铁股份有限公司 | System and method for automatically controlling start and stop of roller way without detection device |
| CN108549317A (en) * | 2018-05-31 | 2018-09-18 | 攀钢集团攀枝花钢钒有限公司 | Casting blank of continuous casting machine positioning control system and method |
| CN109332626B (en) * | 2018-11-06 | 2020-12-22 | 中冶连铸技术工程有限责任公司 | Continuous casting billet hot-feeding direct-rolling automatic blank discharging equipment and method |
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