CN112896988B - Material feeding control method and device, control equipment and readable storage medium - Google Patents
Material feeding control method and device, control equipment and readable storage medium Download PDFInfo
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- CN112896988B CN112896988B CN202110072257.8A CN202110072257A CN112896988B CN 112896988 B CN112896988 B CN 112896988B CN 202110072257 A CN202110072257 A CN 202110072257A CN 112896988 B CN112896988 B CN 112896988B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
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Abstract
The application provides a material feeding control method, a material feeding control device, control equipment and a readable storage medium, and relates to the technical field of automatic control. The method comprises the following steps: sensing position information of a material to be conveyed on the feeding rack through a first sensing assembly; determining the relative inclination deviation of the material to be conveyed and the material taking position according to the relative position relation of the first sensing assembly and the material taking position and the position information of the material to be conveyed, wherein the relative inclination deviation comprises the difference value of the distance between the two ends of the material to be conveyed and the material taking position respectively; when the second sensing assembly senses that the material taking position has the material to be conveyed, the conveying device in the material feeding rack is controlled to convey the distance corresponding to the relative inclination deviation of the material to be conveyed, and the baffle is used for blocking the material to be conveyed at the set position of the material taking position in the conveying process of the material to be conveyed driven by the conveying device, so that the problem that potential safety hazards exist in the material feeding process due to the fact that the position of the material taking position is inaccurate when the material to be conveyed is to be improved.
Description
Technical Field
The application relates to the technical field of automatic control, in particular to a material feeding control method, a material feeding control device, material feeding control equipment and a readable storage medium.
Background
In the field of smelting, a billet (for example, a billet, an aluminum billet, or the like) obtained by smelting generally needs to be subjected to a subsequent processing treatment, and therefore, there is a need to feed the billet to a position of the processing treatment. And in the blank material loading process, the blank material needs to be placed at a specified material taking position. If the blank is incorrect in the putting position of the material taking position, the situation that the material cannot be fed or potential safety hazards exist in the feeding process can be caused. For example, for a blank material placed in an inclined manner with respect to the material taking position, since the material taking machine performs mechanized material taking in a set mode, one arm of the material taking machine takes the material, and the other arm does not take the material, so that the blank material may turn over.
Disclosure of Invention
An object of the embodiments of the present application is to provide a material loading control method, device, control equipment, and readable storage medium, which can solve the problem that potential safety hazards exist in loading due to inaccurate placement positions of materials to be conveyed at a material taking position.
In order to achieve the above object, embodiments of the present application are implemented as follows:
in a first aspect, an embodiment of the present application provides a material loading control method, where the method includes:
the method comprises the steps that position information of a material to be conveyed on a feeding rack is sensed through a first sensing assembly, wherein the feeding rack comprises a material taking position for parking the material to be conveyed, and the material taking position is provided with a baffle for blocking the material to be conveyed from being conveyed;
determining the relative inclination deviation of the material to be conveyed and the material taking position according to the relative position relation between the first sensing assembly and the material taking position and the position information of the material to be conveyed, wherein the relative inclination deviation comprises the difference value of the distance between each of two ends of the material to be conveyed and the material taking position;
when the second sensing assembly senses that the material taking position exists in the material to be conveyed, the conveying device in the material loading rack is controlled to convey the material to be conveyed according to the distance corresponding to the relative inclination deviation, and the baffle is used for blocking the material to be conveyed in the set position of the material taking position in the conveying process of the material to be conveyed driven by the conveying device.
In the above embodiment, when the material to be conveyed is detected to be in an inclined state, after the material to be conveyed reaches the material taking position, the material to be conveyed is continuously conveyed for a certain distance by controlling the conveying device, and the baffle is matched, so that the material to be conveyed is adjusted at the set position of the material taking position, the correct position of the material to be conveyed at the material taking position is ensured, and the problem that potential safety hazards exist in the material loading process due to the fact that the position of the material to be conveyed is inaccurate is solved.
With reference to the first aspect, in some optional embodiments, the first sensing assembly includes a first distance meter and a second distance meter which are distributed at intervals of a preset distance, and the position information of the material to be conveyed includes a first measured distance between the first distance meter and the material to be conveyed and a second measured distance between the second distance meter and the material to be conveyed;
according to the relative position relation of the first sensing assembly and the material taking position and the position information of the material to be conveyed, determining the relative inclination deviation of the material to be conveyed and the material taking position, and the method comprises the following steps:
and determining the relative inclination deviation between the two ends of the material to be conveyed and the material taking position according to the first measuring distance, the second measuring distance, the preset distance, the appointed length of the material to be conveyed, the relative position relation between the first distance meter and the material taking position and the relative position relation between the second distance meter and the material taking position.
In the above embodiment, the first distance meter and the second distance meter are matched with each other, so that the relative inclination deviation between the two ends of the material to be conveyed and the material taking position can be determined.
With reference to the first aspect, in some optional embodiments, the material taking position is an elongated area, and a connection line of the installation positions of the first distance meter and the second distance meter is parallel to the material taking position.
In the above embodiment, when the connecting line of the installation positions of the first distance meter and the second distance meter is parallel to the material taking position, the relative inclination deviation of the operation can be simplified.
With reference to the first aspect, in some optional embodiments, the conveying device includes a stepping motor, and the controlling of the conveying device in the loading rack to convey the material to be conveyed by a distance corresponding to the deviation of the relative inclination includes:
and controlling the stepping motor in the feeding rack to drive the material to be conveyed to operate for a target step number, and suspending operation when the stepping motor operates to the target step number, wherein the stepping motor drives the conveying distance of the material to be conveyed to correspond to the relative inclination deviation when operating for the target step number.
In the above-described embodiment, the conveying distance of the material to be conveyed can be controlled by controlling the target number of steps of the stepping motor operation based on the correspondence between the single step of the stepping motor operation and the distance by which the material to be conveyed is carried, so that the position of the inclined material to be conveyed is corrected.
In combination with the first aspect, in some optional embodiments, before controlling the step motor in the feeding rack to move the material to be conveyed for a target number of steps, the method further includes:
and determining the target step number according to the relative inclination deviation and the corresponding transportation distance when the stepping motor operates for one step.
With reference to the first aspect, in some alternative embodiments, the conveying device includes a counter for counting the number of operation steps of the stepping motor.
With reference to the first aspect, in some optional embodiments, the method further comprises:
when the third sensing assembly determines that the materials to be conveyed do not exist on the conveying roller way, controlling a material taking machine to convey the materials to be conveyed at the material taking position to the conveying roller way;
and when the third sensing assembly determines that the materials to be conveyed exist on the conveying roller way, controlling the conveying roller way to convey the materials to be conveyed.
In the above embodiment, the material to be conveyed after the position correction is conveyed by the material taking machine, so that the safety and the efficiency of feeding can be improved.
In a second aspect, an embodiment of the present application further provides a material loading control device, where the device includes:
the sensing unit is used for sensing position information of a material to be conveyed on the feeding rack through a first sensing assembly, wherein the feeding rack comprises a material taking position for parking the material to be conveyed, and the material taking position is provided with a baffle for blocking the material to be conveyed from being conveyed;
the deviation determining unit is used for determining the relative inclination deviation of the material to be conveyed and the material taking position according to the relative position relation between the first sensing assembly and the material taking position and the position information of the material to be conveyed, wherein the relative inclination deviation comprises the difference value of the distance between the two ends of the material to be conveyed and the material taking position respectively;
the control unit is used for controlling the conveying device in the feeding rack to convey the materials to be conveyed according to the distance corresponding to the relative inclination deviation when the second sensing assembly senses that the material taking position exists in the materials to be conveyed, and the baffle is used for stopping the materials to be conveyed at the set position of the material taking position in the conveying process of the materials to be conveyed driven by the conveying device.
In a third aspect, an embodiment of the present application further provides a control device, where the control device includes a processor and a memory coupled to each other, and a computer program is stored in the memory, and when the computer program is executed by the processor, the control device is caused to perform the above-mentioned method.
In a fourth aspect, the present application further provides a computer-readable storage medium, in which a computer program is stored, and when the computer program runs on a computer, the computer is caused to execute the above method.
Drawings
To more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic view of a feeding system and a material to be conveyed according to an embodiment of the present disclosure.
Fig. 2 is a schematic structural diagram of a control device according to an embodiment of the present application.
Fig. 3 is a schematic flow chart of a material loading control method according to an embodiment of the present application.
Fig. 4a is a schematic view of a calculation scenario of a slab in a loading rack according to an embodiment of the present application.
Fig. 4b is a schematic view of the position-adjusted inclined blank in fig. 4 a.
Fig. 5 is a block diagram of a material loading control device provided in an embodiment of the present application.
Icon: 10-a feeding system; 20-a control device; 21-a processing module; 22-a storage module; 23-a first rangefinder; 24-a second rangefinder; 25-a second sensing component; 26-a first detector; 27-a second detector; 30-a feeding rack; 31-a conveying device; 32-material taking position; 33-a baffle; 34-a static beam; 35-a walking beam; 40-a material taking machine; 50-conveying roller way; 60-materials to be conveyed; 200-a material feeding control device; 210-a sensing unit; 220-a deviation determination unit; 230-control unit.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. It should be noted that the terms "first," "second," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying any relative importance.
The applicant has found that in the field of smelting, for example, when a steel material is smelted, a billet obtained by smelting may be transported to a processing site and processed. For example, a billet is transported from the loading stand to a heating furnace to be heated for subsequent processing. At present, in a feeding rack, if a steel billet is not correctly placed at a material taking position, in the process of conveying the steel billet at the material taking position by a material taking machine, one arm of the material taking machine takes the steel billet, and the other arm of the material taking machine cannot take the steel billet, so that the condition of side turning of the steel billet occurs. The side-turned steel billets are easy to cause a series of potential safety hazards. For example, the roll table guard plate is damaged by the steel billet which is turned over, and the steel billet is clamped on the roll table, so that the motor is locked and tripped.
In view of the above problems, the applicant of the present application proposes the following embodiments to solve the above problems. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Referring to fig. 1, a feeding system 10 according to an embodiment of the present disclosure may include a control device 20, a feeding rack 30, a material taking machine 40, and a conveying roller 50. Wherein the control device 20 can control the loading stand 30 to correct the position of the conveyed material 60 to be conveyed. The material 60 to be conveyed is generally in a strip-shaped structure, and can be determined according to actual conditions. For example, the material 60 to be conveyed may be a billet material such as a billet or an aluminum billet in the smelting industry, and may be referred to as a material for short, where the type, shape and size of the material 60 to be conveyed are not particularly limited. The weight of each blank is usually large and can be determined according to actual conditions. For example, each billet is typically over one ton.
Referring to fig. 2, the control device 20 may include a processing module 21 and a storage module 22. The memory module 22 stores a computer program which, when executed by the processing module 21, enables the control device 20 to carry out the steps of the method described below.
Of course, the control device 20 may also comprise other modules. For example, the control device 20 may further include a first sensing assembly, a second sensing assembly 25, and a third sensing assembly. Wherein the first sensing assembly may comprise a first distance meter 23, a second distance meter 24 for measuring the distance to the material to be conveyed. The second sensing assembly 25 may be a metal detector or a laser detector for detecting whether there is material to be conveyed at the material discharge level 32 in the loading ledge 30. The third sensing assembly may comprise a first detector 26 and a second detector 27, wherein the first detector 26 may be configured to detect whether the material to be conveyed exists on the rollgang 50, and the second detector 27 may be configured to cooperate with the first detector 26 to detect whether the material to be conveyed leaves the rollgang 50.
The first distance meter 23 and the second distance meter 24 can be selected according to actual situations, and may be, but not limited to, a laser distance meter, a radar distance meter, and the like. The first detector 26 and the second detector 27 can be selected according to actual conditions, and can be, but are not limited to, metal detectors, laser detectors, and the like. Understandably, when the material to be conveyed is a metal blank, the first detector 26, the second detector 27 and the second sensing element 25 can be metal detectors.
The positions of the first distance meter 23 and the second distance meter 24 can be set according to actual conditions, and the relative inclination deviation of the materials to be conveyed, which is the closest to the material taking position 32, in the feeding rack 30 can be detected by the first distance meter 23 and the second distance meter 24.
A second sensing assembly 25 may be provided at the material withdrawal level 32 or near the material withdrawal level 32 of the loading ledge 30 for detecting whether material to be delivered is present at the material withdrawal level 32. For example, when the second sensing assembly 25 is a laser detector, a reflector (or a laser receiving module) may be installed at each end of the material taking position 32 as shown in fig. 1. When there is no blocking object or material to be conveyed at the material taking position 32, the laser detector can emit laser and irradiate the laser on the reflector for reflection, and the reflected laser can be received by the laser detector. If there is a blocking object in the material taking position 32, for example, there is a material to be conveyed in the material taking position 32, the laser emitted by the laser detector cannot irradiate on the reflector due to the material to be conveyed, at this time, the reflector (or the laser receiver) cannot receive the laser, and the laser detector cannot receive the laser. Based on this, the laser detector can accurately sense whether the material-taking position 32 has material to be conveyed.
The arrangement positions of the first detector 26 and the second detector 27 can be determined according to actual conditions, and can be arranged on the roller conveyor 50 or near the roller conveyor 50, as long as whether the materials to be conveyed exist on the roller conveyor 50 or not and whether the materials to be conveyed leave the roller conveyor 50 or not can be detected.
In other embodiments, the first sensing assembly, the second sensing assembly 25 and the third sensing assembly may be modules independent of the control device 20.
Referring to fig. 1 again, the feeding rack 30 includes a conveying device 31, a stationary beam 34, and a movable beam 35. A material taking position 32 is arranged on one side of the feeding rack 30 close to the conveying roller way 50. The number of the movable beams 35 and the fixed beams 34 is usually plural, and may be set according to actual conditions, and is not particularly limited herein. The movable beam 35 is used for transporting the material to be transported on the movable beam 35 to the direction of the rollgang 50 under the driving of the transporting device 31. The static beam 34 may be used for carrying the material to be conveyed, and in addition, a baffle 33 is provided at one end of the static beam 34 close to the material taking position 32, so as to block the transported material to be conveyed and avoid the transported material to be conveyed from crossing the material taking position 32. In fig. 1, the travelling beam 35 may transport the steel slab in the direction of the arrow to the pick-up location 32. The roller conveyor 50 can convey the slab in the direction of the arrow to other locations, such as to a furnace.
The conveyor 31 may comprise a stepper motor, a counter. The counter may be configured to count the number of operation steps of the stepping motor. The stepping motor and the counter may form an eccentric device for driving the movable beam 35 to convey the material to be conveyed.
The rollgang 50 includes a plurality of rotatable rollgang tables therein. The reclaimer 40 can place the conveyed material on a roller table, which is then rotated by the roller table to transport the material.
The reclaimer 40 includes an encoder and a driving motor. The reclaimer 40 can drive the reclaimer arm to ascend and descend under the cooperation of the encoder and the driving motor, and drive the reclaimer arm to be close to the reclaimer position 32, drive the reclaimer arm to be far away from the reclaimer position 32, and the like. Understandably, the reclaimer 40 can mechanically convey the material from the reclaiming site 32, and then place the material on the roller conveyor 50 for material transportation by the roller conveyor 50. The operation of the reclaimer 40 is well known to those skilled in the art and will not be described herein. Note that the motor (M) in the reclaimer 40 and the motor (M) in the conveyor 31 may be different types of motors. For example, the motor in the conveying device 31 may be a stepping motor, and the motor in the reclaimer 40 may be another motor, which is not limited herein.
Referring to fig. 3, an embodiment of the present application further provides a material loading control method, which can be applied to the loading system 10, and each step of the method is executed or implemented by the control device 20. The method may comprise the steps of:
step S110, sensing position information of a material to be conveyed on a feeding rack through a first sensing assembly, wherein the feeding rack comprises a material taking position for parking the material to be conveyed, and the material taking position is provided with a baffle for blocking the material to be conveyed from being conveyed;
step S120, determining a relative inclination deviation between the material to be conveyed and the material taking position according to the relative position relation between the first sensing assembly and the material taking position and the position information of the material to be conveyed, wherein the relative inclination deviation comprises the difference value of the distance between the two ends of the material to be conveyed and the material taking position respectively;
step S130, when the second sensing assembly senses that the material taking position has the material to be conveyed, the conveying device in the feeding rack is controlled to convey the material to be conveyed by a distance corresponding to the relative inclination deviation, and the baffle is used for blocking the material to be conveyed at the set position of the material taking position in the conveying process of the material to be conveyed driven by the conveying device.
In the above embodiment, when the material to be conveyed is detected to be in an inclined state, after the material to be conveyed reaches the material taking position, the material to be conveyed is continuously conveyed for a certain distance by controlling the conveying device, and the baffle is matched, so that the material to be conveyed is adjusted at the set position of the material taking position, the correct position of the material to be conveyed at the material taking position is ensured, and the problem that potential safety hazards exist in the material loading process due to the fact that the position of the material to be conveyed is inaccurate is solved.
The individual steps of the process are explained in detail below, as follows:
in step S110, the first sensing assembly may be used to sense position information of the material to be conveyed on the feeding rack. The position information may include a positional relationship between the material to be conveyed and the first sensing assembly. For example, the first sensing assembly may comprise two or more rangefinders, each of which may sense its own measured distance from a different location of the material to be conveyed. The measured distance between each distance meter and the material to be conveyed is the position information.
In step S120, the relative positional relationship between the first sensing element and the material taking position is a predetermined positional relationship. For example, the mounting position of each range finder in the first sensing assembly is in a straight line and parallel to the material pick-up position. Then, the measuring distance obtained by sensing of the distance meter in the first sensing assembly is input into a preset formula, and the relative inclination deviation of the material to be conveyed and the material taking position can be obtained.
In step S130, the second sensing assembly may sense and determine whether the material to be conveyed is present at the pick level. Understandably, the second sensing assembly can emit a probing signal, such as a laser, an ultrasonic wave, and the like. If get the material position and have the material of waiting to carry, detection signal just can be blockked by the material of waiting to carry of getting the material position, if get the material position and do not have the material of waiting to carry, detection signal can not blockked when getting the material position transmission of material rack. Based on this, the second sensing component can form different detection results based on whether the detection signal is blocked at the material taking position. Namely, when the detection signal is blocked at the material taking position, a detection result that the material to be conveyed exists at the material taking position is obtained; and when the detection signal is not blocked at the material taking position, obtaining a detection result that the material taking position does not have the material to be conveyed.
Referring to fig. 1, fig. 4a and fig. 4b, since the material to be conveyed is generally long, when the second sensing assembly determines that the material to be conveyed exists at the material taking position, the positional relationship between the material to be conveyed and the material taking position can be divided into three cases, as follows:
the first method comprises the following steps: the upper end of the material to be conveyed is at the material taking position, and the lower end of the material to be conveyed is not at the material taking position (as shown in fig. 4 a);
and the second method comprises the following steps: the lower end of the material to be conveyed is positioned at a material taking position, and the upper end of the material to be conveyed is not positioned at the material taking position;
and the third is that: the lower end and the lower end of the material to be conveyed are both in the material taking position (as shown in fig. 4 b).
And the materials to be conveyed under the first and second conditions need to be subjected to position correction so that the materials to be conveyed are positioned in the designated positions of the material taking positions. In the third case, if the material to be conveyed is not at the specified position of the material taking position, the position can be corrected.
When the position correction is carried out, the correction can be carried out based on the relative inclination deviation of the material to be conveyed and the material taking position. Namely, the conveying device in the feeding rack is controlled to continue to drive the material to be conveyed to convey the distance corresponding to the relative inclination deviation in the direction close to the conveying roller way. Because quiet roof beam is provided with the dog, in material transportation process, the area transported substance material just can be blockked and get the settlement position of material position to the realization is waited to carry the correction of material position. Wherein, when getting the material position and having the material of treating to carry, the distance that control conveyor continued to carry this material need not to exceed this distance for the distance that the relative slope deviation corresponds to avoid getting near the material position and piling up too much material.
Optionally, the first sensing assembly comprises a first distance meter and a second distance meter which are distributed at intervals with preset distances, and the position information of the material to be conveyed comprises a first measurement distance between the first distance meter and the material to be conveyed and a second measurement distance between the second distance meter and the material to be conveyed. Step S120 may include:
according to the first sensing assembly with get the relative position relation of material level and wait to carry the positional information of material, confirm wait to carry the material with get the relative slope deviation of material level, include:
and determining the relative inclination deviation between the two ends of the material to be conveyed and the material taking position according to the first measuring distance, the second measuring distance, the preset distance, the appointed length of the material to be conveyed, the relative position relation between the first distance meter and the material taking position and the relative position relation between the second distance meter and the material taking position.
In the following, an example of the process for determining the relative inclination deviation will be described with reference to fig. 4a, taking the material to be conveyed as a billet, as follows:
in fig. 4a, a preset distance between the first distance meter and the second distance meter in the first sensing assembly is a, and the first distance meter and the second distance meter are installed in parallel at the material taking position. When a billet (i.e. material to be delivered) is delivered to the position shown in fig. 4a, the second sensing assembly can determine that a billet is present at the take off station. In addition, the first distance meter and the second distance meter can measure the distance between the first distance meter and the point E and the distance between the first distance meter and the point F in the steel billet in a direction perpendicular to the length direction of the material taking bit to obtain a first measurement distance L1 and a second measurement distance L2. Based on this, two similar right triangles, Δ EOF and Δ PRQ, can be constructed. At Δ EOF, the length OF square edge OE is a, the length OF square edge OF is b, and the length OF hypotenuse EF is c. In Δ PRQ, the right-angled side RQ is length A, the right-angled side RP is length B, and the hypotenuse PQ is length C. The distance B is the relative inclination deviation and is the difference between the distances between the two ends of the billet and the material taking position, and the distance B is the value to be calculated.
The distance B can be calculated by the following formula:
b＝|L1-L2| (2)
in the above formula (1), L1 and L2 are the measured distances of the first distance meter and the second distance meter, respectively; c is the length of the steel billet per se, a is the distance between the first distance meter and the second distance meter, and both C and a are predetermined values; L1-L2 is the length of side b in Δ EOF;
is the length value of edge c in Δ EOF. When determining the relative deviation distance, the value of the relative deviation distance B can be obtained by inputting the first measured distance of the first distance meter and the second measured distance of the second distance meter into the above formula.
Of course, in other embodiments, if the installation positions of the first distance meter and the second distance meter are not parallel to the material taking position, the value of the side b needs to be determined by combining the respective distances between the first distance meter and the material taking position (i.e. the relative position relationship between the first sensing assembly and the material taking position), the first measurement distance, and the second measurement distance. At this time, determining the distance of the b-side is well known to those skilled in the art and will not be described herein. After the value of the b-side is obtained, the above formula (1) may be substituted to obtain the relative inclination deviation of the steel material. After the relative deviation is obtained, the steel billet can be continuously conveyed to the material taking position by controlling the movable beam, and the conveying distance is the distance of the relative inclination deviation.
Understandably, when the material to be conveyed is strip-shaped, the material taking position is a strip-shaped area. When the connecting line of the installation positions of the first distance meter and the second distance meter is parallel to the material taking position, in the scene shown in fig. 4a, the length of the side b in the Δ EOF can be determined by directly using the first measuring distance and the second measuring distance, so that the operation of the relative inclination deviation can be simplified.
Alternatively, when the conveying device is powered by a stepping motor, step S130 may include: and controlling the stepping motor in the feeding rack to drive the material to be conveyed to operate for a target step number, and suspending operation when the stepping motor operates to the target step number, wherein the stepping motor drives the conveying distance of the material to be conveyed to correspond to the relative inclination deviation when operating for the target step number.
Understandably, when the stepping motor operates the target step number, the conveying distance for driving the materials on the feeding rack is the same as the distance of the relative inclination deviation. When the second sensing assembly senses that the material taking position has the material to be conveyed and the relative inclination deviation exists, the distance of the relative inclination deviation of the material to be conveyed in the direction of the conveying roller way can be continuously driven, in the conveying process, the baffle can block one end of the material to be conveyed so as to avoid the material to be conveyed to cross the material taking position, and therefore the material to be conveyed is guaranteed to be blocked at the set position of the material taking position. Wherein, the set position is the correct position for placing the materials to be conveyed.
After the stepping motor is suspended to operate, the material taking machine can automatically pick up materials to be conveyed at the material taking position, then the picked materials are placed in the conveying roller way, and the materials are conveyed by the conveying roller way.
Before controlling the stepping motor in the feeding rack to drive the material to be conveyed to run for a target number of steps, the method may further include:
and determining the target step number according to the relative inclination deviation and the corresponding transportation distance when the stepping motor operates for one step.
Understandably, the transportation distance corresponding to each step of the stepping motor is the transportation distance for driving the material on the movable beam when the stepping motor rotates one step, the transportation distance is a fixed value, and if the transportation distance is recorded as h, the target step number K can be calculated by the following formula:
in the above formula (4), B is the relative deviation distance in the formula (1). The target step number K can be calculated by the above formula (4).
Optionally, the conveying means comprises a counter for counting the number of operating steps of the stepping motor.
Understandably, when the second sensing component senses that the material taking position has the material to be conveyed, the value of the counter can be initialized, the initial value is given as the target step number, and then the stepping motor is controlled to operate. And subtracting 1 from the step number of the counter when the stepping motor runs by one step, and controlling the stepping motor to stop running until the step number of the counter is 0.
Or, when the second sensing assembly senses that the material taking position has the material to be conveyed, the value of the counter can be initialized, the initial value is given to be 0, and then the stepping motor is controlled to operate. And adding 1 to the step number of the counter when the stepping motor runs by one step, and controlling the stepping motor to stop running until the step number of the counter is the target step number.
In the above embodiment, the counter is combined to convert the distance control of the relative inclination deviation of the transmission into the control of the running steps of the stepping motor metered by the counter, so that the transmission distance of the material on the feeding rack is driven to be the relative inclination deviation when the stepping motor runs the target steps. In this way, the position of the material can be placed at the set position of the material taking position, i.e. the material to be conveyed shown in fig. 4a can be adjusted as shown in fig. 4 b.
Optionally, the method may further comprise:
when the third sensing assembly determines that the materials to be conveyed do not exist on the conveying roller way, controlling a material taking machine to convey the materials to be conveyed at the material taking position to the conveying roller way;
and when the third sensing assembly determines that the materials to be conveyed exist on the conveying roller way, controlling the conveying roller way to convey the materials to be conveyed.
Understandably, the third sensing assembly can generally include a first detector and a second detector. When the first detector detects that materials to be conveyed do not exist on the rollgang, the materials to be conveyed of the material taking position can be conveyed to the rollgang by controlling the material taking machine. When any one of the first detector or the second detector detects that the materials to be conveyed exist on the conveying roller way, the conveying roller way is controlled to convey the materials to be conveyed. For example, in the steel industry, a roller conveyor may transport billets (material to be conveyed) to a mouth of a heating furnace for subsequent processing.
In the above embodiment, the material to be conveyed after the position correction is conveyed by the material taking machine, so that the safety and the efficiency of the material loading can be improved, and the phenomenon that the material cannot be loaded or the material turns over due to the inaccurate position of the material to be conveyed at the material taking position is avoided.
Referring to fig. 5, an embodiment of the present application further provides a material loading control device 200, which can be applied to the control apparatus described above for executing each step in the method. The material loading control device 200 includes at least one software functional module which can be stored in a memory module in the form of software or Firmware (Firmware) or solidified in an Operating System (OS) of the control device. The processing module is used for executing executable modules stored in the storage module, such as a software functional module and a computer program included in the material loading control device 200.
The material loading control device 200 may include a sensing unit 210, a deviation determining unit 220, and a control unit 230, and may perform the following operation steps:
the sensing unit 210 is configured to sense position information of a material to be conveyed on a feeding rack through a first sensing assembly, wherein the feeding rack comprises a material taking position for parking the material to be conveyed, and the material taking position is provided with a baffle for blocking the material to be conveyed from being conveyed;
a deviation determining unit 220, configured to determine a relative inclination deviation between the material to be conveyed and the material taking position according to a relative position relationship between the first sensing assembly and the material taking position and position information of the material to be conveyed, where the relative inclination deviation includes a difference between distances between two ends of the material to be conveyed and the material taking position respectively;
the control unit 230 is used for controlling the conveying device in the feeding rack to convey the material to be conveyed by a distance corresponding to the relative inclination deviation when the second sensing assembly senses that the material taking position has the material to be conveyed, and the baffle is used for blocking the material to be conveyed at the set position of the material taking position in the conveying process of the material to be conveyed driven by the conveying device.
Optionally, the first sensing assembly comprises a first distance meter and a second distance meter which are distributed at intervals with preset distances, and the position information of the material to be conveyed comprises a first measuring distance between the first distance meter and the material to be conveyed and a second measuring distance between the second distance meter and the material to be conveyed. The deviation determination unit 220 may also be configured to: and determining the relative inclination deviation between the two ends of the material to be conveyed and the material taking position according to the first measuring distance, the second measuring distance, the preset distance, the appointed length of the material to be conveyed, the relative position relation between the first distance meter and the second distance meter and the material taking position.
Optionally, the conveying device comprises a stepping motor, and the control unit 230 may be further configured to: and controlling the stepping motor in the feeding rack to drive the material to be conveyed to operate for a target step number, and suspending operation when the stepping motor operates to the target step number, wherein the stepping motor drives the conveying distance of the material to be conveyed to correspond to the relative inclination deviation when operating for the target step number.
Optionally, the material loading control device 200 may further include a step number determining unit, before the control unit 230 controls the stepping motor in the loading rack to drive the material to be conveyed to operate the target step number, the step number determining unit is configured to: and determining the target step number according to the relative inclination deviation and the corresponding transportation distance when the stepping motor operates for one step.
Optionally, the control unit 230 may be further configured to:
when the third sensing assembly determines that the materials to be conveyed do not exist on the conveying roller way, controlling a material taking machine to convey the materials to be conveyed at the material taking position to the conveying roller way;
and when the third sensing assembly determines that the materials to be conveyed exist on the conveying roller way, controlling the conveying roller way to convey the materials to be conveyed.
In this embodiment, the processing module may be an integrated circuit chip having signal processing capability. The processing module may be a general purpose processor. For example, the processor may be a Central Processing Unit (CPU), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, and may implement or perform the methods, steps, and logic blocks disclosed in the embodiments of the present Application.
The memory module is integrated in the processing module or is separate from the processing module. The memory module may be, but is not limited to, a random access memory, a read only memory, a programmable read only memory, an erasable programmable read only memory, an electrically erasable programmable read only memory, and the like. In this embodiment, the storage module may be configured to store a preset distance, a length of a material to be conveyed, a relative position relationship between the first sensing assembly and the material taking position, and the like. Of course, the storage module may also be used to store a program, and the processing module executes the program after receiving the execution instruction.
It is understood that the structure shown in fig. 2 is only a schematic structure of the control device 20, and the control device 20 may further include more components than those shown in fig. 2. The components shown in fig. 2 may be implemented in hardware, software, or a combination thereof.
It should be noted that, as will be clear to those skilled in the art, for convenience and brevity of description, the specific working processes of the control device 20 and the material loading control apparatus 200 described above may refer to the corresponding processes of the steps in the foregoing method, and will not be described in detail herein.
The embodiment of the application also provides a computer readable storage medium. The computer-readable storage medium has stored therein a computer program which, when run on a computer, causes the computer to execute the material loading control method as described in the above embodiments.
From the foregoing description of the embodiments, it is clear to those skilled in the art that the present application may be implemented by hardware or by software plus a necessary general hardware platform, and based on such understanding, the technical solution of the present application may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, or the like), and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device, or the like) to execute the method described in the various implementation scenarios of the present application.
In summary, the embodiments of the present application provide a material loading control method, device, control apparatus, and readable storage medium. The method comprises the following steps: the method comprises the steps that position information of materials to be conveyed on a feeding rack is sensed through a first sensing assembly, wherein the feeding rack comprises a material taking position used for parking the materials to be conveyed, and a baffle used for blocking the materials to be conveyed is arranged at the material taking position; determining the relative inclination deviation of the material to be conveyed and the material taking position according to the relative position relation of the first sensing assembly and the material taking position and the position information of the material to be conveyed, wherein the relative inclination deviation comprises the difference value of the distance between the two ends of the material to be conveyed and the material taking position respectively; when the second sensing assembly senses that materials to be conveyed exist in the material taking position, the conveying device in the material feeding rack is controlled to convey the distance corresponding to the relative inclination deviation of the materials to be conveyed, and the baffle is used for blocking the materials to be conveyed at the set position of the material taking position in the conveying process of the materials to be conveyed driven by the conveying device. In this scheme, when detecting to wait to carry the material and be in the tilt state, wait to carry the material and after the material level is got in the reacing, continue to carry through control conveyor and wait to carry the material for a section distance to cooperation baffle makes and waits to carry the material and is adjusted the settlement position of getting the material level, in order to ensure to wait to carry the material and getting the correct position of material level, improves and waits to carry the material because of getting the position of material level inaccurate and make the material loading have the problem of potential safety hazard.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus, system, and method may be implemented in other ways. The apparatus, system, and method embodiments described above are illustrative only, as the flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made to the present application by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A material feeding control method is characterized by comprising the following steps:
the method comprises the steps that position information of a material to be conveyed on a feeding rack is sensed through a first sensing assembly, wherein the feeding rack comprises a material taking position for parking the material to be conveyed, and the material taking position is provided with a baffle for blocking the material to be conveyed from being conveyed;
determining relative inclination deviation of the material to be conveyed and the material taking position according to the relative position relation between the first sensing assembly and the material taking position and the position information of the material to be conveyed, wherein the relative inclination deviation comprises the difference between the distances between two ends of the material to be conveyed and the material taking position respectively;
when the second sensing assembly senses that the material taking position exists in the material to be conveyed, the conveying device in the material loading rack is controlled to convey the material to be conveyed according to the distance corresponding to the relative inclination deviation, and the baffle is used for blocking the material to be conveyed in the set position of the material taking position in the conveying process of the material to be conveyed driven by the conveying device.
2. The method of claim 1, wherein the first sensing assembly comprises a first distance meter and a second distance meter spaced apart by a predetermined distance distribution, and the position information of the material to be conveyed comprises a first measured distance between the first distance meter and the material to be conveyed and a second measured distance between the second distance meter and the material to be conveyed;
according to the first sensing assembly with get the relative position relation of material level and wait to carry the positional information of material, confirm wait to carry the material with get the relative slope deviation of material level, include:
and determining the relative inclination deviation between the two ends of the material to be conveyed and the material taking position according to the first measuring distance, the second measuring distance, the preset distance, the appointed length of the material to be conveyed, the relative position relation between the first distance meter and the second distance meter and the material taking position.
3. The method according to claim 2, wherein the take-out position is an elongated region, and a line connecting the mounting positions of the first distance meter and the second distance meter is parallel to the take-out position.
4. The method according to claim 1, wherein the conveying device comprises a stepping motor, and controlling the conveying device in the loading rack to convey the material to be conveyed by a distance corresponding to the relative inclination deviation comprises:
and controlling the stepping motor in the feeding rack to drive the material to be conveyed to operate for a target step number, and suspending operation when the stepping motor operates to the target step number, wherein the stepping motor drives the conveying distance of the material to be conveyed to correspond to the relative inclination deviation when operating for the target step number.
5. The method of claim 4, wherein prior to controlling the stepper motor in the feeder rack to move the material to be conveyed a target number of steps, the method further comprises:
and determining the target step number according to the relative inclination deviation and the corresponding transportation distance when the stepping motor operates for one step.
6. The method of claim 4, wherein the conveyor comprises a counter for counting the number of steps of operation of the stepper motor.
7. The method of claim 1, further comprising:
when the third sensing assembly determines that the materials to be conveyed do not exist on the conveying roller way, controlling a material taking machine to convey the materials to be conveyed at the material taking position to the conveying roller way;
and when the third sensing assembly determines that the materials to be conveyed exist on the conveying roller way, controlling the conveying roller way to convey the materials to be conveyed.
8. A material loading control device, characterized in that the device includes:
the sensing unit is used for sensing position information of a material to be conveyed on the feeding rack through a first sensing assembly, wherein the feeding rack comprises a material taking position for parking the material to be conveyed, and the material taking position is provided with a baffle for blocking the material to be conveyed from being conveyed;
the deviation determining unit is used for determining the relative inclination deviation of the material to be conveyed and the material taking position according to the relative position relation between the first sensing assembly and the material taking position and the position information of the material to be conveyed, wherein the relative inclination deviation comprises the difference value of the distance between the two ends of the material to be conveyed and the material taking position respectively;
the control unit is used for controlling the conveying device in the feeding rack to convey the materials to be conveyed according to the distance corresponding to the relative inclination deviation when the second sensing assembly senses that the material taking position exists in the materials to be conveyed, and the baffle is used for driving the conveying device to convey the materials to be conveyed in the conveying process of the materials to be conveyed to block the materials to be conveyed at the set position of the material taking position.
9. A control device, characterized in that the control device comprises a processor and a memory coupled to each other, in which memory a computer program is stored which, when executed by the processor, causes the control device to carry out the method according to any one of claims 1-7.
10. A computer-readable storage medium, in which a computer program is stored which, when run on a computer, causes the computer to carry out the method according to any one of claims 1 to 7.
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| CN114212488B (en) * | 2022-01-06 | 2024-03-01 | 宝武杰富意特殊钢有限公司 | Multi-rack discharging device and control method thereof |
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