CN111153006A - Automatic coordinate positioning method for steel coil bundling belt - Google Patents
Automatic coordinate positioning method for steel coil bundling belt Download PDFInfo
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- CN111153006A CN111153006A CN201911416058.3A CN201911416058A CN111153006A CN 111153006 A CN111153006 A CN 111153006A CN 201911416058 A CN201911416058 A CN 201911416058A CN 111153006 A CN111153006 A CN 111153006A
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- steel coil
- distance
- robot
- servo system
- special machine
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B69/00—Unpacking of articles or materials, not otherwise provided for
- B65B69/0025—Removing or cutting binding material, e.g. straps or bands
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Basic Packing Technique (AREA)
Abstract
The invention relates to a method for automatically finding and binding coordinates of a steel coil, wherein a robot or a special machine servo system drives a laser range finder to move in parallel at a constant speed along the direction of the axis of the steel coil at a fixed distance above the circumferential surface of the steel coil; the robot or the special machine servo system starts to move from one side of the width of the steel coil until the other side of the width of the steel coil stops, and the laser distance meter continuously measures distance values and transmits the distance values to the PLC control system from the beginning of moving; by adopting the method of calculating the difference value by the integral accumulated value, the robot or the special machine servo system with the laser range finder can accurately find out the number and the position coordinates of all the bundling bands on the circumferential surface of the steel coil after the robot or the special machine servo system with the laser range finder walks the distance of the whole width of the steel coil.
Description
Technical Field
The invention relates to an automatic strapping dismantling robot or a special machine servo system for various steel coils in the steel industry, in particular to a method for automatically finding a strap coordinate and positioning the steel coil.
Background
At present, in the steel industry, in order to solve the problem of repeated single labor of workers, improve the operation security coefficient and effectively reduce the production cost, more and more enterprises choose to use a robot (or a special machine servo system) to replace manual work to automatically remove the strapping tapes of the steel coils, and in the automatic removal operation, because the diameter size, the number of the strapping tapes and the position of the strapping tapes are not fixed, the position and the number of the strapping tapes must be detected firstly before removal, the specific number and the specific position coordinates of the strapping tapes are determined, and the robot or the special machine servo system can move the bale removing device to the corresponding accurate position to remove the strapping tapes.
The traditional method only compares the change of the periodic measurement distance with the periodic measurement distance, and judges whether the change is larger than a certain threshold value, for example, the thickness of the strap is 1mm, and the threshold value is set to be 0.8 mm.
The traditional method is interfered by surface defects or sundries of the steel coil, the periodic measurement value jump larger than a threshold value is usually generated when no strapping exists, meanwhile, due to the problems of the self precision, the repetition error, the signal transmission interference and the like of the laser range finder, when the measurement value jump is supposed to exist, the situation that the strapping cannot be detected is generated due to the fact that the measurement value changes to be smaller than the threshold value, the threshold value cannot be set to be too small, and otherwise, the frequent false detection of products can be caused due to the fluctuation of the laser detection value.
In the current detection means, a laser distance meter is usually adopted to achieve the purpose, a robot or a servo device drives the laser distance meter to move in parallel above the circumferential surface of the steel coil along the axial direction of the steel coil at a certain distance, the laser distance meter feeds back the change of the measured distance in real time, when the periodic change value of the measured distance exceeds a certain preset threshold (for example, 0.5-0.8 times of the thickness of the binding band), the coordinate position of the robot or the servo system corresponding to the periodic time is judged to have a binding band, at the moment, the robot or the servo system records the coordinate value, and the value of the number of the binding bands is updated simultaneously. By adopting the method, the error detection can be caused due to the abnormal state (more than slight dent, scratch, damage, convex wrinkle, sundries and the like) of the surface of the steel coil, meanwhile, the condition that the strapping can not be detected can be caused due to the problems of the self precision, the repeated error, the signal transmission interference and the like of the laser range finder, the current strapping success rate is generally about 99.5 percent, namely, the condition that several strapping can not be found can be found every thousand strapping, the condition needs to be informed to be manually treated and dismantled, because the yield of the steel enterprise is large, more than one strapping is often arranged on each steel coil, therefore, the manual auxiliary robot or the special machine servo system is required to work together every day, the labor productivity is wasted, the automatic operation efficiency is influenced, and the real unmanned operation can not be realized.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a method for automatically finding the coordinates of a binding band of a steel coil, solves the random problems that a robot automatically detaches the binding band, automatically finds the binding band, locates the false binding band of the binding band, cannot find the binding band and the like, and improves the accuracy of automatically finding the binding band and locating.
In order to solve the technical problem, the invention is realized as follows:
a method for automatically finding the coordinate of a binding band for a steel coil is characterized by comprising the following steps:
step 1: the robot or special machine servo system drives the laser range finder to move in parallel at a constant speed along the direction of the axis of the steel coil at a fixed distance above the circumferential surface of the steel coil;
step 2: the robot or the special machine servo system starts to move from one side of the width of the steel coil until the other side of the width of the steel coil stops, and the laser distance meter continuously measures distance values and transmits the distance values to the PLC control system from the beginning of moving;
and step 3: the PLC control system receives the distance value measured by the laser range finder continuously in a fixed period, and in order to ensure high-speed response to the change of the distance value in the movement process, the scanning period of the PLC is set to be 1-5 milliseconds;
and 4, step 4: in the algorithm setting of the PLC, a fixed sampling number n is set, and simultaneously, a database is used for recording the distance value Li detected in each scanning period from the beginning of movement, wherein i is the period number;
and 5: after 2 x n PLC scanning periods from the beginning of the movement, in each current period m (m)>=2 × n), the PLC control system accumulates the distance values recorded in the previous n cycles: SUM (L1) = Lm+Lm-1+Lm-2+。。。+Lm-n(ii) a Meanwhile, accumulating the distance values recorded in the previous 2 x n-n periods: SUM (L2) = Lm-(n+1)+Lm-(n+2)+Lm-(n+3)+。。。+Lm-(n+n)；
Step 6: calculating a difference value Δ L of accumulated values = SUM (L1) -SUM (L2) at each PLC current detection period;
and 7: when the difference value delta L is larger than a set threshold value A, judging that a binding belt is found currently, sending a signal to a robot or a special machine servo system, recording the current coordinate value, and updating the accumulated number D of the binding belts;
and 8: assuming that the moving speed of the robot is 200mm/s, the strap width is 30mm, and the PLC scanning period is set to 1ms, the moving distance of the robot per ms is 0.2mm, and according to the strap width, the number of samples n can be set to 100, n should be equal to or less than the strap width/the moving distance of the robot per ms, that is, n should be equal to or less than 30/0.2= 150; assuming a strap thickness of 1mm, the theoretical difference should be 100 x 1, based on the number of samples n being 100, so that the threshold a can be set in the range of 50% -90% of the theoretical difference, in this case the threshold a can be set at 80 mm;
and step 9: the robot or the special machine servo system belt laser distance meter can accurately find out the number and the position coordinates of all the binding belts on the circumferential surface of the steel coil after the distance of the whole width of the steel coil is reached.
The invention has the beneficial effects that: the method for calculating the difference value by adopting the integral accumulated value can eliminate the interference of the surface defects or impurities of the steel coils and the signal fluctuation problem generated by the self precision, the repeated error, the signal transmission interference and the like of the laser range finder, and is similar to the principle of removing noise.
By adopting the invention, the accuracy of finding the strapping tape by laser can be greatly improved, and the identification rate of about 99.5 percent in the traditional mode can be improved to 100 percent under the condition that the robot, the special machine servo system and the laser range finder work normally, thereby realizing the real automatic operation of detaching the strapping tape from the unmanned steel coil.
Detailed Description
A method for automatically finding coordinates of a binding band of a steel coil comprises the following steps:
step 1: the robot or special machine servo system drives the laser range finder to move in parallel at a constant speed along the direction of the axis of the steel coil at a fixed distance above the circumferential surface of the steel coil;
step 2: the robot or the special machine servo system starts to move from one side of the width of the steel coil until the other side of the width of the steel coil stops, and the laser distance meter continuously measures distance values and transmits the distance values to the PLC control system from the beginning of moving;
and step 3: the PLC control system receives the distance value measured by the laser range finder continuously in a fixed period, and in order to ensure high-speed response to the change of the distance value in the movement process, the scanning period of the PLC is set to be 1-5 milliseconds;
and 4, step 4: in the algorithm setting of the PLC, a fixed sampling number n is set, and simultaneously, a database is used for recording the distance value Li detected in each scanning period from the beginning of movement, wherein i is the period number;
and 5: after 2 x n PLC scanning periods from the beginning of the movement, in each current period m (m)>=2 × n), the PLC control system accumulates the distance values recorded in the previous n cycles: SUM (L1) = Lm+Lm-1+Lm-2+。。。+Lm-n(ii) a Meanwhile, accumulating the distance values recorded in the previous 2 x n-n periods: SUM (L2) = Lm-(n+1)+Lm-(n+2)+Lm-(n+3)+。。。+Lm-(n+n)；
Step 6: calculating a difference value Δ L of accumulated values = SUM (L1) -SUM (L2) at each PLC current detection period;
and 7: when the difference value delta L is larger than a set threshold value A, judging that a binding belt is found currently, sending a signal to a robot or a special machine servo system, recording the current coordinate value, and updating the accumulated number D of the binding belts;
and 8: assuming that the moving speed of the robot is 200mm/s, the strap width is 30mm, and the PLC scanning period is set to 1ms, the moving distance of the robot per ms is 0.2mm, and according to the strap width, the number of samples n can be set to 100, n should be equal to or less than the strap width/the moving distance of the robot per ms, that is, n should be equal to or less than 30/0.2= 150; assuming a strap thickness of 1mm, the theoretical difference should be 100 x 1, based on the number of samples n being 100, so that the threshold a can be set in the range of 50% -90% of the theoretical difference, in this case the threshold a can be set at 80 mm;
and step 9: the robot or the special machine servo system belt laser distance meter can accurately find out the number and the position coordinates of all the binding belts on the circumferential surface of the steel coil after the distance of the whole width of the steel coil is reached.
The invention solves the random problems that the robot automatically detaches the binding belt and automatically finds the false alarm binding belt and locates the binding belt, the binding belt can not be found, and the like, and improves the accuracy of automatically finding the binding belt and locating.
Claims (1)
1. A method for automatically finding the coordinate of a binding band for a steel coil is characterized by comprising the following steps:
step 1: the robot or special machine servo system drives the laser range finder to move in parallel at a constant speed along the direction of the axis of the steel coil at a fixed distance above the circumferential surface of the steel coil;
step 2: the robot or the special machine servo system starts to move from one side of the width of the steel coil until the other side of the width of the steel coil stops, and the laser distance meter continuously measures distance values and transmits the distance values to the PLC control system from the beginning of moving;
and step 3: the PLC control system receives the distance value measured by the laser range finder continuously in a fixed period, and in order to ensure high-speed response to the change of the distance value in the movement process, the scanning period of the PLC is set to be 1-5 milliseconds;
and 4, step 4: in the algorithm setting of the PLC, a fixed sampling number n is set, and simultaneously, a database is used for recording the distance value Li detected in each scanning period from the beginning of movement, wherein i is the period number;
and 5: after 2 x n PLC scanning periods from the beginning of the movement, in each current period m (m)>=2 × n), the PLC control system accumulates the distance values recorded in the previous n cycles: SUM (L1) = Lm+Lm-1+Lm-2+。。。+Lm-n(ii) a Meanwhile, accumulating the distance values recorded in the previous 2 x n-n periods: SUM (L2) = Lm-(n+1)+Lm-(n+2)+Lm-(n+3)+。。。+Lm-(n+n)；
Step 6: calculating a difference value Δ L of accumulated values = SUM (L1) -SUM (L2) at each PLC current detection period;
and 7: when the difference value delta L is larger than a set threshold value A, judging that a binding belt is found currently, sending a signal to a robot or a special machine servo system, recording the current coordinate value, and updating the accumulated number D of the binding belts;
and 8: assuming that the moving speed of the robot is 200mm/s, the strap width is 30mm, and the PLC scanning period is set to 1ms, the moving distance of the robot per ms is 0.2mm, and according to the strap width, the number of samples n can be set to 100, n should be equal to or less than the strap width/the moving distance of the robot per ms, that is, n should be equal to or less than 30/0.2= 150; assuming a strap thickness of 1mm, the theoretical difference should be 100 x 1, based on the number of samples n being 100, so that the threshold a can be set in the range of 50% -90% of the theoretical difference, in this case the threshold a can be set at 80 mm;
and step 9: the robot or the special machine servo system belt laser distance meter can accurately find out the number and the position coordinates of all the binding belts on the circumferential surface of the steel coil after the distance of the whole width of the steel coil is reached.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911416058.3A CN111153006A (en) | 2019-12-31 | 2019-12-31 | Automatic coordinate positioning method for steel coil bundling belt |
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| CN201911416058.3A CN111153006A (en) | 2019-12-31 | 2019-12-31 | Automatic coordinate positioning method for steel coil bundling belt |
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| CN111153006A true CN111153006A (en) | 2020-05-15 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112455841A (en) * | 2020-11-26 | 2021-03-09 | 中冶赛迪工程技术股份有限公司 | Method and device for adjusting position of outer ring belt head of steel coil |
| CN113978867A (en) * | 2021-10-29 | 2022-01-28 | 浙江海亮股份有限公司 | Automatic bundle system of tearing open of electrolytic copper steel band |
| CN112455841B (en) * | 2020-11-26 | 2024-05-14 | 中冶赛迪工程技术股份有限公司 | Method and device for adjusting position of outer ring belt head of steel coil |
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| JPH09126818A (en) * | 1995-10-07 | 1997-05-16 | Dr Johannes Heidenhain Gmbh | Device for photoelectric length measurement or angle measurement |
| DE29901886U1 (en) * | 1998-07-20 | 1999-07-08 | Rst Roboter System Technik Gmb | Device for removing the strapping element of a strapping from a stack of goods, in particular a bottle crate stack |
| JP2005170498A (en) * | 2003-12-15 | 2005-06-30 | Toshiba Corp | Binding band cutting device |
| CN103260238A (en) * | 2012-12-28 | 2013-08-21 | 重庆邮电大学 | Mobile node positioning method based on speed sampling zone in wireless sensor network |
| CN103558617A (en) * | 2013-10-30 | 2014-02-05 | 无锡赛思汇智科技有限公司 | Positioning method and device |
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| CN206087438U (en) * | 2016-10-18 | 2017-04-12 | 常州信息职业技术学院 | Tight cutting apparatus is taken out to ribbon location |
| CN109760901A (en) * | 2019-01-04 | 2019-05-17 | 北京首钢自动化信息技术有限公司 | A kind of coil of strip banding intelligence dismounting system and method |
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2019
- 2019-12-31 CN CN201911416058.3A patent/CN111153006A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09126818A (en) * | 1995-10-07 | 1997-05-16 | Dr Johannes Heidenhain Gmbh | Device for photoelectric length measurement or angle measurement |
| DE29901886U1 (en) * | 1998-07-20 | 1999-07-08 | Rst Roboter System Technik Gmb | Device for removing the strapping element of a strapping from a stack of goods, in particular a bottle crate stack |
| JP2005170498A (en) * | 2003-12-15 | 2005-06-30 | Toshiba Corp | Binding band cutting device |
| CN103260238A (en) * | 2012-12-28 | 2013-08-21 | 重庆邮电大学 | Mobile node positioning method based on speed sampling zone in wireless sensor network |
| CN103558617A (en) * | 2013-10-30 | 2014-02-05 | 无锡赛思汇智科技有限公司 | Positioning method and device |
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| CN109760901A (en) * | 2019-01-04 | 2019-05-17 | 北京首钢自动化信息技术有限公司 | A kind of coil of strip banding intelligence dismounting system and method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112455841A (en) * | 2020-11-26 | 2021-03-09 | 中冶赛迪工程技术股份有限公司 | Method and device for adjusting position of outer ring belt head of steel coil |
| CN112455841B (en) * | 2020-11-26 | 2024-05-14 | 中冶赛迪工程技术股份有限公司 | Method and device for adjusting position of outer ring belt head of steel coil |
| CN113978867A (en) * | 2021-10-29 | 2022-01-28 | 浙江海亮股份有限公司 | Automatic bundle system of tearing open of electrolytic copper steel band |
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Application publication date: 20200515 |