CN115569997A - A Machine Vision-Based Control Method for Finishing Strip Tail Segment - Google Patents

Abstract

The invention discloses a finish rolling strip steel tail section control method based on machine vision, which comprises the following steps: obtaining real-time deviation in the running process of the strip steel by a machine vision technology; determining a width adjusting coefficient and a thickness adjusting coefficient through the set width and the set thickness of the strip steel outlet; calculating a running deviation leveling value based on the real-time deviation amount, the width adjusting coefficient and the thickness adjusting coefficient; and optimizing the deviation leveling value according to different steel biting states, and distributing the optimized deviation leveling value, so that the corresponding frame corrects the running track of the strip steel according to the distributed deviation leveling value. The invention can reduce the drift rate of the strip steel in the tail throwing process.

Description

A Machine Vision-Based Control Method for Finishing Strip Tail Segment

technical field

The invention relates to the technical field of steel rolling automation, in particular to a machine vision-based method for controlling the tail section of a finished strip steel strip.

Background technique

In the iron and steel industry, slabs with different specifications and parameters are one of the most important product varieties in the production of plate and strip products. Slab materials have a wide range of applications, especially in recent years, with the continuous development of industries such as machinery manufacturing, shipbuilding, building construction, logistics and transportation, many new and different requirements and actual needs have been put forward for slabs. Prompting its continuous development towards the green direction of low energy consumption, high quality, high efficiency, and less environmental pollution, the requirements for the shape of the plate have also become more stringent. The so-called slab shape simply refers to some parameters of the slab, such as flatness, convexity and other geometric and physical properties.

Most of the control methods for strip deviation in the current technology adopt rolling force feedback control. This control method does not consider the tension and the operating state of the strip under different bite states. The control effect cannot meet the actual needs, so it is not suitable. Continuous control of the strip tail.

Contents of the invention

The invention provides a segmental control method for the tail section of the finished strip steel based on machine vision, to solve the problem that the prior art does not consider the tension and the running state of the strip steel in different steel-biting states, and the control effect cannot meet the actual needs, so it does not Technical problems suitable for continuous control of strip tails.

In order to solve the problems of the technologies described above, the present invention provides the following technical solutions:

On the one hand, the present invention provides a kind of machine vision-based finish-rolled steel tail segment control method, described finish-rolled steel tail segment control method based on machine vision comprising:

Through machine vision technology, the real-time deviation amount during the strip running process is obtained;

Determine the width adjustment coefficient and thickness adjustment coefficient by setting the width and thickness at the strip steel outlet;

Calculate the deviation leveling value based on the real-time deviation amount, width adjustment coefficient and thickness adjustment coefficient;

According to different steel-biting states, the deviation leveling value is optimized, and the optimized deviation leveling value is distributed, so that the corresponding rack corrects the strip running track according to the allocated deviation leveling value.

Further, the calculation formula of the width adjustment coefficient is:

The calculation formula of the thickness adjustment coefficient is:

Among them, K _W is the width adjustment coefficient; K _T is the thickness adjustment coefficient; W _set is the set width of the F7 rack outlet; T _set is the set thickness of the F7 rack outlet; W _max and W _min are the maximum width and The minimum value indicates the strip width specifications that can be rolled by the production line; T _max and T _min are the maximum and minimum thickness values respectively, indicating the strip thickness specifications that can be rolled by the production line; W _{max_coef} and W _{min_coef} are respectively are the maximum and minimum values of the width adjustment coefficient; T _{max_coef} and T _{min_coef} are the maximum and minimum values of the thickness adjustment coefficient respectively.

Further, the formula for calculating the deviation leveling value is:

ΔS＝K _W ×K _T ×K _E ×ΔD

Among them, ΔS is the deviation leveling value; K _W is the width adjustment coefficient; K _T is the thickness adjustment coefficient; K _E is the regulation efficiency coefficient, indicating the actual deformation degree of the strip when the roll gap is adjusted; ΔD is the real-time deviation amount .

Further, the optimization of the deviation leveling value according to different steel-biting states includes:

The deviation leveling value is optimized by the following formula:

ΔS＝K _W ×K _T ×K _E ×ΔD×K _section

Among them, K _section is the subsection control coefficient set according to the steel biting state, which is used to change the adjustment amount of the strip.

Further, the distribution of the optimized deviation leveling value includes:

For the upstream F2 and F3 racks, the optimized running deviation leveling value is sent to the subsequent two racks according to the first preset proportional coefficient and the second preset proportional coefficient respectively. Correction of running trajectory;

For the downstream F4, F5, and F6 racks, when in the first control stage, the optimized deviation leveling value is sent to the subsequent two racks according to the third preset proportional coefficient and the fourth preset proportional coefficient; When in the second control stage, the optimized deviation leveling value is sent to the subsequent rack according to the fifth preset proportional coefficient; when in the third control phase, the optimized deviation leveling value is only issued sent to the current rack; among them,

For the F4 frame, F1 steel throwing to F2 steel throwing is the first control stage; F2 steel throwing to F3 steel throwing is the second control stage; F3 steel throwing to F4 steel throwing is the third control stage;

For the F5 frame, F2 steel throwing to F3 steel throwing is the first control stage; F3 steel throwing to F4 steel throwing is the second control stage; F4 steel throwing to F5 steel throwing is the third control stage;

For the F6 frame, steel throwing from F3 to F4 is the first control stage; steel throwing from F4 to F5 is the second control stage; steel throwing from F5 to F6 is the third control stage.

In another aspect, the present invention also provides an electronic device, which includes a processor and a memory; at least one instruction is stored in the memory, and the instruction is loaded and executed by the processor to implement the above method.

In yet another aspect, the present invention also provides a computer-readable storage medium, wherein at least one instruction is stored in the storage medium, and the instruction is loaded and executed by a processor to implement the above method.

The beneficial effects brought by the technical solution provided by the present invention at least include:

The technical scheme of the present invention controls the strips under different steel-biting states by layering, effectively avoiding the problems of poor roll-gap reduction control efficiency and large deviation trend changes due to large tension fluctuations, and greatly improves This improves the accuracy of the adjustment of the deviation correction system and reduces the occurrence of unfinished accidents caused by deviation.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained based on these drawings without creative effort.

Fig. 1 is a schematic diagram of the execution flow of the machine vision-based method for controlling the tail section of the finished strip provided by the embodiment of the present invention.

detailed description

In order to make the object, technical solution and advantages of the present invention clearer, the implementation manner of the present invention will be further described in detail below in conjunction with the accompanying drawings.

first embodiment

This embodiment provides a machine vision-based method for controlling the tail section of the finish-rolled steel strip, which can be implemented by electronic equipment. The execution flow of the method is shown in Figure 1, including the following steps:

S1, through machine vision technology, accurately obtain the real-time deviation amount during the strip running process, as the basis for subsequent strip deviation control;

S2, determine the width adjustment coefficient and the thickness adjustment coefficient through the set width and the set thickness of the strip steel outlet;

Among them, the calculation formula of the width adjustment coefficient is:

The formula for calculating the thickness adjustment coefficient is:

Among them, K _W is the width adjustment coefficient, dimensionless, obtained by calculation; K _T is the thickness adjustment coefficient, dimensionless, obtained by calculation; W _set is the set width of the F7 outlet, and T _set is the set thickness of the F7 outlet. The units are mm, obtained through communication PLC; W _max and W _min are the maximum and minimum widths respectively, the unit is mm, determined according to the specifications of the on-site production line, indicating the strip width that can be rolled by the hot rolling production line Specifications, obtained from server communication; T _max and T _min are the maximum and minimum thickness values respectively, in mm, determined according to the specifications of the on-site production line, indicating the strip thickness specifications that can be rolled by the hot continuous rolling production line, from Obtained through server communication; W _{max_coef} and W _{min_coef} are the maximum and minimum values of the width adjustment coefficient, dimensionless, obtained from the data tables of the experience values and weight coefficients of each rack; T _{max_coef} and T _{min_coef} are the thickness adjustment coefficient values respectively The maximum and minimum values of , dimensionless, are obtained from the data tables of the empirical values and weight coefficients of each rack.

S3. Calculate the deviation leveling value based on the real-time deviation amount, width adjustment coefficient and thickness adjustment coefficient;

Among them, the calculation formula of deviation leveling value is:

ΔS＝K _W ×K _T ×K _E ×ΔD

Among them, ΔS is the deviation leveling value, the unit is mm, obtained by calculation; K _W is the width adjustment coefficient, and K _T is the thickness adjustment coefficient, both of which are dimensionless, calculated by S2; K _E is the regulation efficiency coefficient, which is infinite Outline, which indicates the actual deformation degree of the strip when the roll gap is adjusted, is obtained through finite element simulation; ΔD is the real-time deviation amount, in mm, obtained from the communication server through S1.

S4, optimize the deviation leveling value according to different steel bite states, and distribute the optimized deviation leveling value, so that the corresponding rack corrects the strip running track according to the allocated deviation leveling value .

It should be noted that, considering that the tension of the steel strip is different under different steel bite states, the actual roll gap reduction control effect and the deviation of the strip steel will be significantly different. Control, the final calculation formula of deviation leveling value obtained by optimizing the calculation formula of deviation leveling value in S3 is:

ΔS＝K _W ×K _T ×K _E ×ΔD×K _secti on

Among them, K _section is the section control coefficient set according to the steel bite state, dimensionless, used to change the adjustment amount of the strip, so as to perform section control, obtained through field experience.

Further, the segment control table corresponding to each rack is shown in Table 1.

Table 1 Segmentation control table

Taking the F4 frame as an example, F1 steel throwing to F2 steel throwing is the first stage of control. At this time, the F2 frame and F3 frame are both in the state of biting the steel, and the two ends of the strip are in the state of tension, and the deviation trend is relatively smooth. The control effect of roll gap reduction is better; steel throwing from F2 to F3 steel throwing is the second stage of control. At this time, the F2 frame has thrown steel, and the F3 frame is in the state of biting steel, the tension will fluctuate, and reverse deviation is easy to occur 1. The problem of increasing deviation trend; steel throwing from F3 to F4 is the third stage of control. At this time, the strip steel is in a state of complete loss of tension, and the deviation trend will increase sharply, and the roll gap reduction control effect is poor. Similarly, for the F5 frame, steel throwing from F2 to F3 is the first control stage; F3 steel throwing to F4 steel throwing is the second control stage; F4 steel throwing to F5 steel throwing is the third control stage; for F6 machine Frame, F3 steel throwing to F4 steel throwing is the first control stage; F4 steel throwing to F5 steel throwing is the second control stage; F5 steel throwing to F6 steel throwing is the third control stage.

Based on the above, in this embodiment, the method of distributing the optimized deviation leveling value is as follows:

For the upstream F2 and F3 racks, since the running speed of the strip steel is relatively slow at this time, the optimized deviation leveling value is sent to the subsequent two racks according to a certain proportional coefficient. Through the joint adjustment of the three racks, the strip steel Correction of running trajectory;

For the downstream F4, F5, and F6 racks, when they are in the first control stage, the optimized running deviation leveling value is sent to the next two racks according to a certain proportional coefficient; when they are in the second control stage, the optimized The deviation leveling value of the system is sent to the next rack according to a certain proportional coefficient; when it is in the third control stage, the optimized deviation leveling value is only sent to the current rack.

Among them, the proportional coefficient is determined according to the field experience value, stored in the database, and obtained through the communication server in actual application.

It should be noted that the layered control of the strip steel is because the tension of the strip steel will have a large difference due to the different state of the steel bite during the strip throwing process. When the tension fluctuates, the running of the strip steel will Both the deviation trend and the roll gap reduction control effect will change. When the strip is completely out of tension, the deviation trend will increase sharply due to the lack of binding force. If the adjustment is made according to the original control amount, the expected effect will not be achieved, and tail flicking will easily occur. At the same time, through the distribution of the adjustment amount, it can prevent the strip from running unstable due to excessive adjustment amount and causing vicious tail flicking.

Below, the application process of the method in this embodiment is described by taking the F4 rack as an example:

Step 1: Accurately obtain the real-time deviation amount during the running process of the strip steel through machine vision technology, as the basis for the deviation control of the strip steel;

Among them, the deviation change amount of the detected strip steel obtained by the communication server at the detection moment is:

ΔD=5.67mm

Step 2: Determine different adjustment coefficients by setting the width and thickness of the strip steel outlet;

Among them, the exit setting width of the detected strip obtained by the communication PLC is 1600mm; the exit setting thickness is 3.5mm; the field correlation coefficient is shown in Table 2:

Table 2 Field correlation coefficient

variable W_max W_min T_max T_min W_{max_coef} W_{min_coef} T_{max_coef} T_{min_coef} value 2250 1000 25 1.5 1 2 2 1

Based on the above, the calculated strip width adjustment coefficient is:

The strip thickness adjustment coefficient is:

Step 3: Obtain the formula for calculating the deviation leveling value:

ΔS＝K _W ×K _T ×K _E ×ΔD

Among them, K _W ＝1.52, K _T ＝1.09, and the control coefficient K _E ＝0.003 obtained through finite element simulation, so the calculated deviation leveling value is:

ΔS＝1.52×1.09×0.003×5.67＝0.0282mm

Step 4: According to different steel biting states, optimize the formula of deviation leveling value;

The deviation and leveling value of the detected strip on the F4 frame calculated in step 3 is 0.0282mm. At this time, the strip is in a state of complete loss of tension, so the third stage control of F4 deviation is carried out, and the correlation obtained from the communication site experience table The coefficients are shown in Table 3:

Table 3 Sectional control coefficient table

control phase F4 deviation first stage control F4 deviation second stage control F4 deviation third segment control value 1.00 1.20 1.35

Therefore, the final deviation leveling value is:

ΔS＝0.0282×1.35＝0.038mm

Since it is in the third control stage of F4 deviation at this time, the adjustment value is only sent to the F4 rack;

After applying the machine vision-based finishing strip tail section control method of this embodiment to the finishing rolling measurement and control automatic deviation correction system of a 2250mm hot tandem rolling mill for large-scale industrial application, very remarkable results have been achieved. According to the comparison of on-site production performance and accident reports, after adopting this control method, the accident rate of stacking steel during the tailing process of strip steel has been reduced by more than 30%, and the tailing rate has been reduced by more than 40% compared with the previous one.

second embodiment

This embodiment provides an electronic device, which includes a processor and a memory; at least one instruction is stored in the memory, and the instruction is loaded and executed by the processor, so as to implement the method of the first embodiment.

The electronic device may have relatively large differences due to different configurations or performances, and may include one or more processors (central processing units, CPU) and one or more memories, wherein at least one instruction is stored in the memory, so The above instruction is loaded by the processor and executes the above method.

third embodiment

This embodiment provides a computer-readable storage medium, where at least one instruction is stored, and the instruction is loaded and executed by a processor, so as to implement the method of the first embodiment above. Wherein, the computer-readable storage medium may be ROM, random access memory, CD-ROM, magnetic tape, floppy disk, optical data storage device and the like. The instructions stored therein can be loaded by the processor in the terminal to execute the above method.

In addition, it should be noted that the present invention may be provided as a method, device or computer program product. Accordingly, embodiments of the invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the invention may take the form of a computer program product embodied on one or more computer-usable storage media having computer-usable program code embodied therein.

Embodiments of the present invention are described with reference to flowcharts and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, embedded processor or other programmable data processing terminal processor to produce a machine such that instructions executed by the computer or other programmable data processing terminal processor produce a machine for A device for realizing the functions specified in one or more procedures of a flowchart and/or one or more blocks of a block diagram.

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the The instruction means implements the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram. These computer program instructions can also be loaded into a computer or other programmable data processing terminal equipment, so that a series of operational steps are performed on the computer or other programmable terminal equipment to produce computer-implemented processing, thereby The instructions executed above provide steps for implementing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

It should also be noted that in this article, relational terms such as first and second etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or operations Any such actual relationship or order exists between. The term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or end-equipment comprising a set of elements includes not only those elements but also items not expressly listed other elements, or also include elements inherent in such a process, method, article, or end-equipment. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or terminal device comprising said element.

Finally, it should be noted that the above description is a preferred embodiment of the present invention, and it should be pointed out that although the preferred embodiment of the present invention has been described, for those skilled in the art, once the basic creative concepts of the present invention are understood , under the premise of not departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications should also be regarded as the protection scope of the present invention. Therefore, the appended claims are intended to be construed to cover the preferred embodiment and all changes and modifications which fall within the scope of the embodiments of the present invention.

Claims (5)

1. A machine vision-based finishing strip tail segment control method, characterized in that, comprising: Through machine vision technology, the real-time deviation amount during the strip running process is obtained; Determine the width adjustment coefficient and thickness adjustment coefficient by setting the width and thickness at the strip steel outlet; Calculate the deviation leveling value based on the real-time deviation amount, width adjustment coefficient and thickness adjustment coefficient; According to different steel-biting states, the deviation leveling value is optimized, and the optimized deviation leveling value is distributed, so that the corresponding rack corrects the strip running track according to the allocated deviation leveling value. 2. the method for segmental control of the finish-rolled steel strip tail section based on machine vision as claimed in claim 1, is characterized in that, the computing formula of described width adjustment coefficient is:

The calculation formula of the thickness adjustment coefficient is:

Among them, K _W is the width adjustment coefficient; K _T is the thickness adjustment coefficient; W _set is the set width of the F7 rack outlet; T _set is the set thickness of the F7 rack outlet; W _max and W _min are the maximum width and The minimum value indicates the strip width specifications that can be rolled by the production line; T _max and T _min are the maximum and minimum thickness values respectively, indicating the strip thickness specifications that can be rolled by the production line; W _{max_coef} and W _{min_coef} are respectively are the maximum and minimum values of the width adjustment coefficient; T _{max_coef} and T _{min_coef} are the maximum and minimum values of the thickness adjustment coefficient respectively. 3. the method for segmental control of the finishing strip tail section based on machine vision as claimed in claim 1, characterized in that, the calculation formula of the deviation leveling value is: ΔS＝K _W ×K _T ×K _E ×ΔD Among them, ΔS is the deviation leveling value; K _W is the width adjustment coefficient; K _T is the thickness adjustment coefficient; K _E is the regulation efficiency coefficient, indicating the actual deformation degree of the strip when the roll gap is adjusted; ΔD is the real-time deviation amount . 4. The tail section control method of finishing strip steel based on machine vision as claimed in claim 3, characterized in that, according to different steel-biting states, the deviation leveling value is optimized, comprising: The deviation leveling value is optimized by the following formula: ΔS＝K _W ×K _T ×K _E ×ΔD×K _section Among them, K _section is the subsection control coefficient set according to the steel biting state, which is used to change the adjustment amount of the strip. 5. the method for segmental control of finishing strip steel tail section based on machine vision as claimed in claim 4, is characterized in that, the distribution of the deviation leveling value after the optimization includes: For the upstream F2 and F3 racks, the optimized running deviation leveling value is sent to the subsequent two racks according to the first preset proportional coefficient and the second preset proportional coefficient respectively. Correction of running trajectory; For the downstream F4, F5, and F6 racks, when in the first control stage, the optimized deviation leveling value is sent to the subsequent two racks according to the third preset proportional coefficient and the fourth preset proportional coefficient; When in the second control stage, the optimized deviation leveling value is sent to the subsequent rack according to the fifth preset proportional coefficient; when in the third control phase, the optimized deviation leveling value is only issued sent to the current rack; among them, For the F4 frame, F1 steel throwing to F2 steel throwing is the first control stage; F2 steel throwing to F3 steel throwing is the second control stage; F3 steel throwing to F4 steel throwing is the third control stage; For the F5 frame, F2 steel throwing to F3 steel throwing is the first control stage; F3 steel throwing to F4 steel throwing is the second control stage; F4 steel throwing to F5 steel throwing is the third control stage; For the F6 frame, steel throwing from F3 to F4 is the first control stage; steel throwing from F4 to F5 is the second control stage; steel throwing from F5 to F6 is the third control stage.

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