JPH02291347A - Meandering control method for banded travelling object - Google Patents

Abstract

PURPOSE:To judge the notch-detected side edge of a banded travelling object using only two detectors by performing meandering control only with the information at one side edge and using the other side edge when the edge being used for control becomes unusable, thus continuing the meandering control. CONSTITUTION:Image sensors, i.e., linear sensors 13, 14 are provided facing both edges of a banded travelling object (metal band) 11 in order to detect the movement of the bilateral edges L, R of the banded travelling object 11 and the change of its whole width by these sensors 13, 14 at fixed sampling intervals and make its real-time notch and bilateral edge judgment. In case the reference side edge R on one side being used for control deviates from the visual field of the image sensor 14 on the same side, or the notch is detected at the reference side edge R, the reference side edge is shifted to the opposite side edge L and the control is continued with the detected value of sampling by the other image sensor 13.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a meandering control method for a strip-shaped running object, and more particularly, a meandering control method when a side edge of a strip-shaped running object has an abnormality and cannot be used for meandering control. Regarding.

[Conventional technology]

In continuous processing lines for metal, plastic, etc. strips, center position control (hereinafter referred to as CPC) to hold the strip at the center of the conveyance path or side edge position control (hereinafter referred to as RPC) to hold one side edge in a fixed position is required. It is. To perform the above control, the position of the steering device, rewinding machine, or winding machine installed on the conveyance path is adjusted based on information from the side edge sensor installed on the conveyance path. Methods of controlling tearing devices are widely used.

When a notch (hereinafter referred to as a notch) exists in the strip-shaped running object, meandering control of the strip-shaped running object is performed by keeping fluctuations in the lateral position (edge position) of the strip-shaped running object to a minimum. There is a need.

Conventionally, various proposals have been made as techniques for suppressing disturbances in meandering control when a cross is passing.

That is, as shown in FIG. 5, the reset sensors S, .
An RPC/CPC device including S2 and a controller C1, and a notch detector including linear sensors S, S4, and a controller C2 are arranged one behind the other along the traveling direction of the belt-shaped traveling object, and the notch detector's linear sensor s. ．． S
．． The non-chip signal is sent from the controller C2 by E P C
/C P P C device controller C1 is supplied with E P
I am trying to control the movement of the C/CPC device.

In addition, as shown in FIG. 6, a detector K for EPC and a detector K
．． An automatic strip winding method in which K3 is provided is described in Japanese Patent Publication No. 54-20627, and in this case as well, a nonochi detector K. , K. During the passage of the vehicle, the control of the RPC device is held, that is, locked.

Furthermore, as shown in FIG. 7, two sensors S. , S2 is provided at a sufficient distance from each other, and a method for controlling the edge position of the strisobut is disclosed in Japanese Patent Laid-Open No. 5
8-38607, and in this case, when the difference between the outputs of the two sensors S, S2 exceeds a threshold value, the presence of a notch is detected and the control of the EPC device is held. ing.

In addition, as shown in FIG. 8, two sensors S,, S2
Patent application No. 62-8297 discloses a meandering correcting device of Strithop in which the strips are arranged opposite to each other in the lateral (width) direction of a running strip.
It is described in Specification No. 6. In this case, the width of the strip-shaped traveling object is detected by two sensors S, Sz, the width is detected by the degree of change in width, the notch is detected by the degree of change in width, and the control of the RPC device is thereby held. I try to do that.

[Problem to be solved by the invention]

In the above-mentioned prior art meandering control of a belt-shaped running object,
Since a dedicated detector is required to detect the notch, the number of detectors increases, and from the viewpoint of maintenance and cost, a device using a small number of multipurpose detectors has been required.

In addition, in the conventional device described above, the control of the RPC device is always held (that is, locked) while passing through the notch, so if the center of the belt-shaped object moves during the hold, excessive If the EPC device that should respond and follow the edge of the strip-shaped traveling object no longer performs, that is, the edge of the strip-shaped traveling object after unlocking differs from the original edge position (particularly if it differs greatly), the EPC will not perform i. f! l
．． This causes a lot of movement and has a negative impact on the moving object.

Various techniques have also been proposed for keeping the side edge within the field of view of the sensor when the side edge position changes significantly.

For example, in JP-A-57-172203 and JP-A-62-14310, the position of the sensor is moved to follow the side edge of a belt-shaped object so that the side edge is always captured at the center of the field of view. However, this type of equipment is large-scale and has drawbacks such as cost and installation space. SUMMARY OF THE INVENTION An object of the present invention is to provide a meandering control method for a belt-shaped traveling object that uses a small number of detectors to perform EPC/CPC that is hardly affected by the presence or absence of a notch.

[Means for Solving the Problems] According to the meandering control method for a traveling belt-like object of the present invention, image sensors that scan in a direction perpendicular to the traveling direction of the traveling belt-like object are placed opposite to both side edges of the traveling belt-like object. In meandering control that maintains the center or one side edge of a strip-shaped object in a predetermined position based on the side edge position information from these image sensors, the side edge on the side used for control deviates from the field of view. When it becomes impossible to use it for control due to an abnormality such as swerving, the other side edge is used to continue meandering control.

Furthermore, the notch on the side edge is determined from the position of the side edge of the strip-shaped traveling object and the variation ratio of the width to the running length,
It is characterized by switching the side edge used for control to the side where the notch does not exist, continuing meandering control, and automatically returning after passing the notch. [Function] According to the present invention, image sensors, that is, resea sensors are provided opposite both side edges of the strip-shaped running object, and these sensors detect the movement of the left and right side edges of the strip-shaped running object and changes in the overall width thereof. Detection is performed at regular sampling intervals, and the notch is determined and its left and right are determined in real time. If the reference side edge used for control deviates from the roughness, or if a notch is detected on the reference side edge, the notch is detected. The reference side edge is moved to the opposite side edge so that control can be continued from the detected value of the previous sampling.

〔Example〕

(First Example) FIG. 1 shows a first embodiment of a meandering control method for a belt-shaped traveling object according to the present invention.
FIGS. 2A, 2B, and 2C are explanatory diagrams illustrating the embodiment and the control method.

In FIG. 1, reference numeral 10 denotes a continuous annealing furnace for the metal strip 11, and a description will be given below of the case in which the annealing furnace 10 is applied to control the steering device 12 of the metal strip 11.

A pair of image sensors 13 and 14 are arranged at both ends of the running road side of the metal strip l1, and the detection signals of the respective image sensors 13 and 14 are input to the control computer 16 via the measuring device l5, and the control computer 16 A control signal from the compuator 16 is input to the steering device 12 via a steering device control panel 17, and the steering device 12 is configured to perform necessary control. Further, the steering device 12 is configured to be able to control the movement of the metal strip 11 in the width direction by turning or tilting the steering rolls 18 and 19. Furthermore, as shown in FIG. It is placed so that it fits within your field of vision. However, under such an arrangement, when the image sensor 14 detects and controls the reference side edge R, a large meandering occurs, and the reference side edge R is outside the field of view R° of the image sensor 14. When moved (Figure 2 a and C)
The reference side edge is moved to the L side image sensor 13, and control is continued while detecting the side edge L°. (Second Embodiment) Figure 3 is an example of meandering control performed at the entrance of a continuous processing line. The rewinding reel 1 has a structure that can be shifted in a direction perpendicular to the conveying direction of the strip 2 by an electric/hydraulic control section 4 and a hydraulic ring 5. Image sensor S r , S
w is installed with both edges of the strip perpendicular to the strip surface. Image sensor S provides positional information on the side edges of the strip.
．． S, is sent to the controller 3 for arithmetic processing, and the control signal is input to the electric/hydraulic control unit 4 to operate the cylinder 5 to move the rewinding reel 1 in the axial direction. To be able to control the meandering. Further, the rewind reel 1 is provided with a line pulse generator 6 that does not generate pulses and a position transmitter 7 that generates a position signal for each unit length of the strip-shaped running object 2. The controller 3 is equipped with a digital universal amplifier (microprocessor). It consists of an on-board digital processing processor.

The operation of the meandering control method and device for a belt-shaped traveling object according to the present invention will be explained below with reference to FIGS. 4a, b, and c.・Notch detection: Assuming that there is a notch 8 on the left side edge of the strip-shaped traveling object 2, this notch 8 is detected by the resea sensor S,
and S! Detected by. That is, as shown in FIG.
The line pulse signal from the line pulse generator 6 generates a unit length E+. Ilt. The width W, , W, , -W, of the strip-shaped running object 2 measured every l'r is stored in the memory in the controller 3 as a plate width value. The tip is detected by comparing the stored plate width value with the current plate width value. For example, the memorized plate width value in this case is a plate width value W1 Lmm downstream from the current provisional width value W, and can be set depending on the shape of the tip and the like. Therefore, if the following equation is satisfied, the tip will be detected.

W, −W, ≧AWs Here, IWs is a notch detection judgment value.

That is, assuming that the cutting edge 8 starts from the instant t1, a non-cut exists if the difference between the memory plate width value W and the current plate width value exceeds the non-cut detection judgment value 13Ws at the instant t2. It is determined that it is a thing. Since changes in the strip width of the strip-shaped running object itself and changes in strip width due to the shape of the non-chip vary depending on the various lines, the settings of AW and L can be changed using the controller 3.

・Distinguishing the left and right sides of the nose; During the EPC/CPC control operation, during the sampling period W, -W, the EPC/C is
PC will follow when the line speed is slow. Also, in order to detect it as soon as possible, the nonoch detection judgment value JWs
If the value is small, it becomes extremely difficult to distinguish between the left and right sides of the nonchi. The reason is that the EPC/CPC is in control, so the detectors S, .
S. This is because the width of the strips on the left and right sides of the center skein of the strip-shaped running object 2 cannot be measured. Therefore, when the difference between the memory plate width value W1 and the current plate width value W exceeds the start detection judgment value AW, that is, when W,−W,≧ΔW, E P
C/C P C device is installed. The term ``ronok'' here means that the position of the belt-like traveling object is controlled by the controller 3 at the cylinder position before one scan of the plate width value, that is, the sampling value W. In this way, the position of the strip-shaped running object 2 is maintained, and the strip width is further measured to determine left and right. In this case, the board width is determined by measuring the left and right edges from the line center using the same method as in the case of detecting the tip above, as shown in Figure 4b, and calculating the width of each board as shown in the following formula. Detected by the amount of change in plate width.

? ．． -J■<lW,' No groove (right side edge) W L
I W t z < l W s ' Notch present (left side edge) Here, AWs' is a notch left/right discrimination setting value, and this AWs' is also determined by the controller 3 based on conditions such as the specifications of the strip-shaped traveling object 2 and the shape of the notch. It can be set by

Operation when detecting EPC or CPC; After EPC detection and left/right discrimination (1!: 1.), the detector S. ．．
Switch the reference side edge for SA to the side edge without the non-1000 and continue EPC. Therefore, it does not follow the notch,
It becomes possible to perform RPC that is not affected by the shape of the notch. cpc; After detecting the left and right sides and determining left and right, the cylinder 5 is returned to the instant ti and locked to the position until the non-chi passes (instant t6). After the position, instant ts), CPC is continued.Since such notch detection and left/right discrimination can be performed in a short time, the movement of the 7 cylinder 5 during this time does not have a large effect on the controlled object.Non-notch detection FIG. 4C shows the EPC operation before and after Nonochi Seso 1.

It is also possible to perform the resenot of the nonochi according to the shape of the nonochi. In other words, similarly to the time of detection, as shown in the following equation, the search ends when the difference between the α temporary width value Wl and the current temporary width value Wr becomes equal to or less than the detection judgment value AWs (VA time ts). Considered as position.

W, −W, <ΔWs (Effect of the invention) As mentioned above, by using only two EPC or CPC detectors (image sensors), it is possible to detect a large number of times and detect edges on either side of a strip-shaped running object. Since it is possible to distinguish between the left and right sides, it is possible to improve functionality and reduce costs without increasing the equipment configuration.

Furthermore, EPC can be performed without being affected by the shape of the nochi. That is, after determining the left and right sides of the notch, by switching the detector to the side edge where there is no notch and using it, it becomes possible to control the EPC without following the shape of the notch.

[BRIEF DESCRIPTION OF THE DRAWINGS] FIG. 1 is an explanatory diagram showing a first embodiment of the meandering control method for a belt-shaped traveling object according to the present invention, FIGS. 2 a, b, and c are explanatory diagrams of the control method, and FIG. 4A is a perspective view showing notch detection, FIG. 4B is an explanatory diagram showing the principle of notch left/right discrimination, and FIG. A time chart diagram for explaining the operation. FIGS. 5 to 8 are configuration explanatory diagrams showing a conventional meandering control device for a belt-shaped traveling object. 1...Rewinding reel 2...Band-shaped running object 3...Controller 4...Electric/oil operating device 5...Cylinder 6...Line pulse 7...Position transmitter 8... Notch Sl. S2...Detector 10...Annealing furnace 11...Metal band 12...Steering device 13. 14... Image sensor 15... Measuring device l6... III control computer 17... Steering device control panel 18. 19... Steering roll (image sensor)

Claims (2)

[Claims] (1) A means for measuring the meandering of each side edge by being provided on both sides of the conveyance path of the strip-shaped traveling object, and a means for measuring the meandering of each side edge, and measuring the meandering of each side edge of the strip-shaped traveling object at the center or one side edge based on the above-mentioned side edge position information. In a meandering control device consisting of a travel position control means that works to hold the vehicle in a predetermined position, meandering control is performed based on information on one side edge, and the side edge being used for control becomes unavailable for control. A meandering control method for a belt-shaped running object, characterized in that when the meandering control is continued using other side edges when (2) A means for measuring the meandering of each side edge by being provided on both sides of the conveyance path of the belt-shaped traveling object, and a means for measuring the meandering of each side edge of the belt-shaped traveling object at the center or one side edge based on the above-mentioned side edge position information. In the meandering control device, which consists of a traveling position control means that works to hold the strip at a predetermined position, from the position information of both side edges and the variation ratio of the width of the strip-shaped traveling object to the traveling length obtained from the information,
1. A meandering control method for a belt-shaped running object, comprising determining a notch in a side edge, determining a side edge where the notch is present, and performing meandering control based on positional information of the side edge where the notch does not exist.