CN105600554A

CN105600554A - Method and device for displaying moving trajectory of strips

Info

Publication number: CN105600554A
Application number: CN201510673239.XA
Authority: CN
Inventors: 李家栋; 王昭东; 李勇; 王国栋; 许玉峰
Original assignee: Northeastern University China
Current assignee: Guangxi Advanced Aluminum Processing Innovation Center Co ltd
Priority date: 2015-10-16
Filing date: 2015-10-16
Publication date: 2016-05-25
Anticipated expiration: 2035-10-16
Also published as: CN105600554B

Abstract

The invention provides a method and a device for displaying a moving trajectory of strips. The method comprises the following steps: determining a current moving velocity of the strips, and calculating a current position of the strips in an online area; determining position coordinates of the strips in the online area according to the current position of the strips in the online area; displaying the moving trajectory of the strips according to the position coordinates of the strips in the online area. The position of the current strips can be fed back to strip processing personnel in real time through the method and the device for displaying the moving trajectory of the strips, such that the strip processing personnel can convert a technological procedure in time.

Description

A strip running track display method and device

技术领域technical field

本发明涉及计算处理领域，具体而言，涉及一种带材运行轨迹显示方法和装置。The invention relates to the field of calculation processing, in particular to a method and device for displaying a running track of a strip.

背景技术Background technique

目前，汽车制造等机械制造中使用的钢材是通过气垫式热处理生产线加工形成的，该生产线由多个机组组成，用于对带材进行连续操作，为了在带材的处理过程中实现工艺规程转换等目的，需要在带材的处理过程中确定带材位置。At present, the steel used in machinery manufacturing such as automobile manufacturing is processed through an air cushion heat treatment production line, which consists of multiple units for continuous operation of the strip, in order to achieve process specification conversion during the treatment of the strip For such purposes, it is necessary to determine the position of the strip during its handling.

相关技术中，气垫式热处理生产线只能对带材所在生产线的区域进行反馈，然后在生产线的各个区域中通过传感器、激光器等带材位置反馈设备将带材的位置反馈给带材加工人员。In related technologies, the air-cushion heat treatment production line can only give feedback to the area of the production line where the strip is located, and then feedback the position of the strip to the strip processing personnel through strip position feedback devices such as sensors and lasers in each area of the production line.

带材加工人员通过带材位置反馈设备获取带材的位置时，由于带材位置反馈设备的灵敏度限制，所以常常不能实时的将当前带材的位置反馈给获取给带材加工人员(特别是带材位于生产线的线上区域时)，使得带材加工人员不能及时的转换工艺规程，降低了带材加工时的良品率。When the strip processing personnel obtain the position of the strip through the strip position feedback device, due to the sensitivity limit of the strip position feedback device, it is often impossible to feed back the current strip position to the strip processing personnel (especially the strip position in real time). When the strip is located in the on-line area of the production line), the strip processing personnel cannot change the process regulations in time, which reduces the yield rate during strip processing.

发明内容Contents of the invention

有鉴于此，本发明实施例的目的在于一种带材运行轨迹显示方法和装置，可以实时的将当前带材的位置反馈给获取给带材加工人员，使得带材加工人员能及时转换工艺规程。In view of this, the object of the embodiment of the present invention is a strip running track display method and device, which can feed back and obtain the current strip position to the strip processing personnel in real time, so that the strip processing personnel can switch the process regulations in time .

第一方面，本发明实施例提供了一种带材运行轨迹显示方法，包括：In a first aspect, an embodiment of the present invention provides a method for displaying a running track of a strip, including:

确定带材的当前运行速度，计算所述带材在线上区域的当前位置；determining the current running speed of the strip and calculating the current position of the strip on the line;

根据所述带材在所述线上区域的当前位置，确定所述带材在所述线上区域的位置坐标；determining the position coordinates of the strip on the on-line area according to the current position of the strip on the on-line area;

根据所述带材在所述线上区域的位置坐标，显示所述带材的运行轨迹。According to the position coordinates of the strip on the line area, the running track of the strip is displayed.

结合第一方面，本发明实施例提供了第一方面的第一种可能的实施方式，其中，确定带材的当前运行速度，计算所述带材在线上区域的当前位置，包括：In combination with the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, wherein determining the current running speed of the strip and calculating the current position of the strip on the line includes:

通过以下公式1确定所述带材的当前运行速度：The current running speed of the strip is determined by the following formula 1:

${v v}_{c c} = = \{\begin{matrix} {v v}_{E E. n no} & {P P}_{s the s t t r r i i p p__b b} \leq \leq {P P}_{b b r r i i__11} + + {L L}_{E E. n no__l l o o o o p p e e r r} + + {L L}_{E E. x x__l l o o o o p p e e r r} \\ {v v}_{E E. x x} & {P P}_{s the s t t r r i i p p__b b} &GreaterEqual; &Greater Equal; {P P}_{b b r r i i__11} + + {L L}_{E E. n no__l l o o o o p p e e r r} + + {L L}_{E E. x x__l l o o o o p p e e r r} \end{matrix} - - - - - - ((11))$

其中，v_c表示带材当前时刻运行速度，v_En表示线上区域中入口活套机组的主令辊速度，v_Ex表示线上区域中出口活套机组的主令辊速度，表示带材头部前一时刻位置，L_{En_looper}表示入口活套长度，L_{Ex_looper}表示出口活套长度，P_{bri_1}表示出口活套出口张力辊位置。Among them, v _c represents the running speed of the strip at the current moment, v _En represents the master roll speed of the entrance looper unit in the online area, v _Ex represents the master roll speed of the exit looper unit in the online area, Indicates the position of the strip head at the previous moment, L _{En_looper} indicates the length of the entry looper, L _{Ex_looper} indicates the length of the exit looper, P _{bri_1} indicates the position of the exit tension roller of the exit looper.

结合第一方面，本发明实施例提供了第一方面的第二种可能的实施方式，其中，确定带材的当前运行速度，计算所述带材在线上区域的当前位置，包括：In combination with the first aspect, an embodiment of the present invention provides a second possible implementation manner of the first aspect, wherein determining the current running speed of the strip and calculating the current position of the strip on the line includes:

通过以下公式2计算所述带材在线上区域的当前位置：The current position of the strip on the line area is calculated by the following formula 2:

${P P}_{s the s t t r r i i p p__c c} = = {P P}_{s the s t t r r i i p p__b b} + + \frac{{v v}_{c c} + + {v v}_{b b}}{22} {T T}_{c c b b} - - - - - - ((22))$

其中，P_{strip_c}表示带材头部当前时刻位置，v_b表示带材前一时刻运行速度，T_cb为预设常数，表示当前时刻与前一时刻的计算间隔。Among them, P _{strip_c} represents the current position of the strip head, v _b represents the running speed of the strip at the previous moment, and T _cb is a preset constant, representing the calculation interval between the current moment and the previous moment.

结合第一方面，本发明实施例提供了第一方面的第三种可能的实施方式，其中，根据所述带材在所述线上区域的当前位置，确定所述带材在所述线上区域的位置坐标，包括：With reference to the first aspect, the embodiment of the present invention provides a third possible implementation manner of the first aspect, wherein, according to the current position of the strip on the line area, it is determined that the strip is on the line Location coordinates of the area, including:

通过以下公式3确定所述带材在所述线上区域的当前位置横坐标：Determine the current position abscissa of the strip on the line area by the following formula 3:

${P P}_{x x} = = \{\begin{matrix} {P P}_{s the s t t r r i i p p__c c} & {P P}_{s the s t t r r i i p p__c c} \leq \leq {P P}_{r r 11} + + {L L}_{E E. n no__l l o o o o p p e e r r} \\ {P P}_{s the s t t r r i i p p__c c} - - {L L}_{E E. n no__l l o o o o p p e e r r} & {P P}_{r r 11} + + {L L}_{E E. n no__l l o o o o p p e e r r} < < {P P}_{s the s t t r r i i p p__c c} \leq \leq {P P}_{r r 22} + + {L L}_{E E. n no__l l o o o o p p e e r r} + + {L L}_{E E. x x__l l o o o o p p e e r r} \\ {P P}_{s the s t t r r i i p p__c c} - - {L L}_{E E. n no__l l o o o o p p e e r r} - - {L L}_{E E. x x__l l o o o o p p e e r r} & {P P}_{s the s t t r r i i p p__c c} > > {P P}_{r r 22} + + {L L}_{E E. n no__l l o o o o p p e e r r} + + {L L}_{E E. x x__l l o o o o p p e e r r} \end{matrix} - - - - - - ((33))$

其中，P_x表示带材在线上区域的当前位置横坐标，P_{strip_c}表示带材头部当前时刻位置，L_{En_looper}表示入口活套长度，L_{Ex_looper}表示出口活套长度，P_r1和P_r2为常数；Among them, P _x represents the abscissa of the current position of the strip on the line, P _{strip_c} represents the current position of the strip head, L _{En_looper} represents the length of the entry looper, L _{Ex_looper} represents the length of the exit looper, P _r1 and P _r2 are constants ;

根据所述带材在所述线上区域的当前位置和所述带材在所述线上区域的当前位置横坐标，确定所述带材在所述线上区域的当前位置纵坐标。According to the current position of the strip on the on-line area and the abscissa of the current position of the strip on the on-line area, determine the ordinate of the current position of the strip on the on-line area.

结合第一方面，本发明实施例提供了第一方面的第四种可能的实施方式，其中，根据所述带材在所述线上区域的当前位置和所述带材在所述线上区域的当前位置横坐标，确定所述带材在所述线上区域的当前位置纵坐标，包括：With reference to the first aspect, the embodiment of the present invention provides a fourth possible implementation manner of the first aspect, wherein, according to the current position of the strip on the online area and the strip on the online area The abscissa of the current position of the strip determines the ordinate of the current position of the strip on the line, including:

根据所述带材在所述线上区域的当前位置，确定当前对所述带材进行处理的线上区域设备，所述线上区域设备包括：清洗机组、入口活套机组、气垫式热处理炉、拉矫机组、酸洗钝化机组和出口活套机组；According to the current position of the strip in the on-line area, determine the on-line area equipment currently processing the strip, and the on-line area equipment includes: a cleaning unit, an inlet looper unit, and an air-cushion heat treatment furnace , tension leveling unit, pickling passivation unit and export looper unit;

通过预存的线上区域设备与带材运动轨迹方程的对应关系，确定当前所述带材对应的带材运动轨迹方程；Determine the strip movement trajectory equation corresponding to the current strip through the pre-stored correspondence between the online area equipment and the strip movement trajectory equation;

将所述带材在所述线上区域的当前位置横坐标代入确定的所述带材运动轨迹方程，计算所述线上区域的当前位置纵坐标。Substituting the abscissa of the current position of the strip on the on-line area into the determined movement trajectory equation of the strip to calculate the ordinate of the current position of the on-line area.

结合第一方面，本发明实施例提供了第一方面的第五种可能的实施方式，其中，根据所述带材在所述线上区域的当前位置，确定所述带材在所述线上区域的位置坐标，还包括：With reference to the first aspect, the embodiment of the present invention provides a fifth possible implementation manner of the first aspect, wherein, according to the current position of the strip on the line area, it is determined that the strip is on the line The location coordinates of the area, including:

获取所述带材的实际位置坐标；Obtaining the actual position coordinates of the strip;

当计算得到的所述带材的所述当前位置坐标与实际位置坐标的距离大于设定的距离阈值时，则以所述实际位置坐标作为所述带材在所述线上区域的位置坐标；When the calculated distance between the current position coordinates of the strip and the actual position coordinates is greater than a set distance threshold, the actual position coordinates are used as the position coordinates of the strip on the line;

当计算得到的所述带材的所述当前位置坐标与实际位置坐标的距离小于等于与设定的距离阈值时，则以所述当前位置坐标作为所述带材在所述线上区域的位置坐标。When the calculated distance between the current position coordinates of the strip and the actual position coordinates is less than or equal to the set distance threshold, the current position coordinates are used as the position of the strip on the line area coordinate.

第二方面，本发明实施例提供了一种带材运行轨迹显示装置，包括：In the second aspect, an embodiment of the present invention provides a strip running track display device, including:

当前位置计算模块，用于确定带材的当前运行速度，计算所述带材在线上区域的当前位置；The current position calculation module is used to determine the current running speed of the strip, and calculate the current position of the strip on the online area;

位置坐标确定模块，用于根据所述带材在所述线上区域的当前位置，确定所述带材在所述线上区域的位置坐标；A position coordinate determination module, configured to determine the position coordinates of the strip on the on-line area according to the current position of the strip on the on-line area;

显示模块，用于根据所述带材在所述线上区域的位置坐标，显示所述带材的运行轨迹。The display module is configured to display the running track of the strip according to the position coordinates of the strip on the line area.

结合第二方面，本发明实施例提供了第二方面的第一种可能的实施方式，其中，当前位置计算模块，包括：第一计算单元；In combination with the second aspect, the embodiment of the present invention provides a first possible implementation manner of the second aspect, wherein the current position calculation module includes: a first calculation unit;

所述第一计算单元，用于通过以下公式1确定所述带材的当前运行速度：The first calculation unit is used to determine the current running speed of the strip through the following formula 1:

结合第二方面，本发明实施例提供了第二方面的第二种可能的实施方式，其中，当前位置计算模块，包括：第二计算单元；In combination with the second aspect, the embodiment of the present invention provides a second possible implementation manner of the second aspect, wherein the current position calculation module includes: a second calculation unit;

所述第二计算单元，用于通过以下公式2计算所述带材在线上区域的当前位置：The second calculation unit is used to calculate the current position of the strip on the online area by the following formula 2:

结合第二方面，本发明实施例提供了第二方面的第三种可能的实施方式，其中，位置坐标确定模块，包括：In combination with the second aspect, the embodiment of the present invention provides a third possible implementation manner of the second aspect, wherein the location coordinate determining module includes:

当前位置横坐标计算单元，用于通过以下公式3确定所述带材在所述线上区域的当前位置横坐标：The current position abscissa calculation unit is used to determine the current position abscissa of the strip on the line area by the following formula 3:

当前位置纵坐标计算单元，用于根据所述带材在所述线上区域的当前位置和所述带材在所述线上区域的当前位置横坐标，确定所述带材在所述线上区域的当前位置纵坐标。The current position ordinate calculation unit is configured to determine that the strip is on the line according to the current position of the strip on the line area and the current position abscissa of the strip on the line area The ordinate of the current location of the region.

本发明实施例提供的带材运行轨迹显示方法和装置，通过确定带材的当前运行速度，得到带材在线上区域的位置坐标，并根据带材在线上区域的位置坐标，在显示设备上显示带材的运行轨迹，与现有技术中通过带材位置反馈设备获取带材的位置时由于设备的灵敏度低不能实时的将当前带材的位置反馈给获取给带材加工人员的缺陷相比，可以实时获取带材的位置坐标，可以及时的将当前带材的位置反馈给获取给带材加工人员，使得带材加工人员能及时转换针对带材的工艺规程，而且无需在气垫式热处理生产线上安装大量的带材位置反馈设备，降低了带材加工的成本。In the method and device for displaying the running track of the strip provided by the embodiments of the present invention, the position coordinates of the strip on the online area are obtained by determining the current running speed of the strip, and are displayed on the display device according to the position coordinates of the strip on the online area. The running track of the strip is compared with the defect that the current strip position cannot be fed back to the strip processing personnel in real time due to the low sensitivity of the equipment when the strip position is acquired by the strip position feedback device in the prior art. The position coordinates of the strip can be obtained in real time, and the current position of the strip can be fed back to the strip processing personnel in a timely manner, so that the strip processing personnel can convert the process regulations for the strip in time, and there is no need to work on the air cushion heat treatment production line Installing a large number of strip position feedback devices reduces the cost of strip processing.

为使本发明的上述目的、特征和优点能更明显易懂，下文特举较佳实施例，并配合所附附图，作详细说明如下。In order to make the above-mentioned objects, features and advantages of the present invention more comprehensible, preferred embodiments will be described in detail below together with the accompanying drawings.

附图说明Description of drawings

为了更清楚地说明本发明实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本发明的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and thus It should be regarded as a limitation on the scope, and those skilled in the art can also obtain other related drawings based on these drawings without creative work.

图1示出了本发明实施例提供的一种带材运行轨迹显示方法所涉及的一种实施系统的结构示意图；FIG. 1 shows a schematic structural diagram of an implementation system involved in a strip running track display method provided by an embodiment of the present invention;

图2示出了本发明实施例所提供的一种带材运行轨迹显示方法的流程图；Fig. 2 shows a flow chart of a method for displaying a strip running track provided by an embodiment of the present invention;

图3示出了本发明实施例所提供的一种带材运行轨迹显示装置的结构示意图；Fig. 3 shows a schematic structural view of a strip running track display device provided by an embodiment of the present invention;

图4示出了本发明实施例所提供的另一种带材运行轨迹显示装置的结构示意图；Fig. 4 shows a schematic structural view of another strip running track display device provided by an embodiment of the present invention;

图5示出了本发明实施例所提供的另一种带材运行轨迹显示装置中的缝合缝监测及修正的示意图；Fig. 5 shows a schematic diagram of seam monitoring and correction in another strip running track display device provided by an embodiment of the present invention;

图6示出了本发明实施例所提供的另一种带材运行轨迹显示装置中的带材在1#张力辊组上运行轨迹的示意图。Fig. 6 shows a schematic diagram of the running track of the strip on the 1# tension roller set in another strip running track display device provided by an embodiment of the present invention.

具体实施方式detailed description

下面将结合本发明实施例中附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。通常在此处附图中描述和示出的本发明实施例的组件可以以各种不同的配置来布置和设计。因此，以下对在附图中提供的本发明的实施例的详细描述并非旨在限制要求保护的本发明的范围，而是仅仅表示本发明的选定实施例。基于本发明的实施例，本领域技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本发明保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts belong to the protection scope of the present invention.

考虑到相关的带材检测技术中，带材加工人员通过带材位置反馈设备获取带材的位置时，由于带材位置反馈设备的灵敏度限制，所以常常不能实时的将当前带材的位置反馈给获取给带材加工人员(特别是带材位于生产线的线上区域时)，使得带材加工人员不能及时的转换工艺规程，降低了带材加工时的良品率。基于此，本发明实施例提供了一种带材运行轨迹显示方法和装置。Considering that in the relevant strip detection technology, when the strip processing personnel obtain the strip position through the strip position feedback device, due to the sensitivity limit of the strip position feedback device, it is often impossible to feed back the current strip position to the Obtained to the strip processing personnel (especially when the strip is located in the on-line area of the production line), the strip processing personnel cannot convert the process regulations in time, and the yield rate during strip processing is reduced. Based on this, an embodiment of the present invention provides a method and device for displaying a running track of a strip.

参见图1，其示出了本发明实施例提供的自定义特征码的方法所涉及的一种实施系统的结构示意图，该系统包括：带材运行轨迹显示设备100，带材运行轨迹显示设备100包括：带材轨迹处理器件101和带材运行轨迹显示器件102。Referring to FIG. 1 , it shows a schematic structural diagram of an implementation system involved in the method for customizing feature codes provided by an embodiment of the present invention. The system includes: a strip running track display device 100 , and a strip running track display device 100 It includes: a strip track processing device 101 and a strip running track display device 102 .

其中，带材轨迹处理器件101，用于确定带材的当前运行速度，计算带材在线上区域的当前位置，并根据带材在线上区域的当前位置，确定带材在线上区域的位置坐标，然后将确定的带材在线上区域的位置坐标发送给带材运行轨迹显示器件102；带材运行轨迹显示器件102，用于根据带材在线上区域的位置坐标，显示带材的运行轨迹。Wherein, the strip track processing device 101 is used to determine the current running speed of the strip, calculate the current position of the strip on the line, and determine the position coordinates of the strip on the line according to the current position of the strip on the line, Then the determined position coordinates of the strip on-line area are sent to the strip running track display device 102; the strip running track display device 102 is used to display the strip's running track according to the position coordinates of the strip on the line area.

带材运行轨迹显示设备100可以采用现有的任意型号的服务器或者计算设备来确定并显示带材轨迹，这里不再一一赘述。The strip running track display device 100 can use any existing server or computing device to determine and display the strip track, which will not be repeated here.

带材轨迹处理器件101可以采用现有的任何型号和类型的中央处理器、微处理器或者可编程器件来确定带材的位置坐标，这里不再一一赘述。The strip track processing device 101 can use any existing model and type of central processing unit, microprocessor or programmable device to determine the position coordinates of the strip, which will not be repeated here.

带材运行轨迹显示器件102可以采用现有的任何型号的显示设备或者显示器以将带材的运行轨迹显示出来，这里不再一一赘述。The strip running track display device 102 can use any existing display device or display to display the running track of the strip, and details will not be repeated here.

实施例1Example 1

参见图2，本实施例提供一种带材运行轨迹显示方法，包括：Referring to Fig. 2, this embodiment provides a method for displaying the running track of a strip, including:

步骤200、确定带材的当前运行速度，计算带材在线上区域的当前位置。Step 200, determine the current running speed of the strip, and calculate the current position of the strip on the line.

线上区域包括可以对带材进行处理的如下机组：清洗机组、入口活套机组、气垫式热处理炉、拉矫机组、酸洗钝化机组和出口活套机组。The online area includes the following units that can process the strip: cleaning unit, inlet looper unit, air cushion heat treatment furnace, tension leveling unit, pickling passivation unit and outlet looper unit.

步骤202、根据带材在线上区域的当前位置，确定带材在线上区域的位置坐标。Step 202, according to the current position of the strip on the line, determine the position coordinates of the strip on the line.

位置坐标是二维坐标，可以表示带材所在线上区域的任意机组内的精确位置。以带材进入清洗机组的位置作为位置坐标的坐标原点，来描述带材在线上区域的精确位置。The position coordinates are two-dimensional coordinates, which can indicate the precise position in any unit in the area where the strip is located. The position where the strip enters the cleaning unit is used as the coordinate origin of the position coordinates to describe the precise position of the strip on the line.

步骤204、根据带材在线上区域的位置坐标，显示带材的运行轨迹。Step 204, display the running track of the strip according to the position coordinates of the strip on the line.

具体地，在确定带材子线上区域的位置坐标后，根据预设的位置坐标和显示设备像素点的对应关系，得到该位置坐标对应的像素点，控制显示设备在所得到的像素点上显示带材的所在位置。所以在显示设备上，从清洗机组的显示区域开始，到出口活套机组的显示区域为止，会出现一条由连续的像素点组成的曲线，这条曲线就描述出了带材在线上区域的运行轨迹。Specifically, after determining the position coordinates of the area on the sub-line of the strip, according to the preset correspondence between the position coordinates and the pixels of the display device, the pixel corresponding to the position coordinates is obtained, and the display device is controlled to display on the obtained pixel points Shows where the strip is located. Therefore, on the display device, from the display area of the cleaning unit to the display area of the export looper unit, there will be a curve composed of continuous pixels, which describes the operation of the strip on the line. track.

预设的位置坐标和显示设备像素点的对应关系预先存储在记录线上设备属性信息的数据库中。The correspondence between the preset position coordinates and the pixel points of the display device is pre-stored in the database that records the attribute information of the online device.

其中，在显示带材的运行轨迹时，利用西门子WinCC软件，根据带材的位置坐标中的横坐标和纵坐标，与实物和屏幕的缩放比例系数，用不同颜色显示多条带材的精确运行轨迹。当然，在显示带材的运行轨迹的过程中，还可以采用与西门子WinCC软件功能类似的软件来对带材的运行轨迹显示在显示设备上，这里不再一一赘述。Among them, when displaying the running track of the strip, using Siemens WinCC software, according to the abscissa and ordinate in the position coordinates of the strip, and the scaling factor of the real object and the screen, the precise running of multiple strips is displayed in different colors track. Of course, in the process of displaying the running track of the strip, software similar in function to Siemens WinCC software can also be used to display the running track of the strip on the display device, and details will not be repeated here.

综上所述，本实施例提供的带材运行轨迹显示方法，通过确定带材的当前运行速度，得到带材在线上区域的位置坐标，并根据带材在线上区域的位置坐标，在显示设备上显示带材的运行轨迹，与现有技术中通过带材位置反馈设备获取带材的位置时由于设备的灵敏度低不能实时的将当前带材的位置反馈给获取给带材加工人员的缺陷相比，可以实时获取带材的位置坐标，可以及时的将当前带材的位置反馈给获取给带材加工人员，使得带材加工人员能及时转换针对带材的工艺规程，而且无需在气垫式热处理生产线上安装大量的带材位置反馈设备，降低了带材加工的成本。To sum up, the method for displaying the running track of the strip provided in this embodiment obtains the position coordinates of the on-line area of the strip by determining the current running speed of the strip, and according to the position coordinates of the on-line area of the strip, the display device The running track of the strip is displayed on the screen, which is similar to the defect that the current strip position cannot be fed back to the strip processing personnel in real time due to the low sensitivity of the equipment when the strip position is obtained by the strip position feedback device in the prior art. Compared, the position coordinates of the strip can be obtained in real time, and the current position of the strip can be fed back to the strip processing personnel in time, so that the strip processing personnel can convert the process regulations for the strip in time, and there is no need for air cushion heat treatment A large number of strip position feedback devices are installed on the production line, which reduces the cost of strip processing.

在相关技术中，当带材进入气垫式热处理生产线的线上区域而被线上区域的各机组处理时，只能通过线上区域上安装的传感器、激光器等带材位置反馈设备大致反馈带材的处理位置；为了得到带材在线上区域各机组中的精确位置，就得先确定带材的当前运行速度，所以确定带材的当前运行速度，计算带材在线上区域的当前位置，包括：In the related technology, when the strip enters the on-line area of the air-cushion heat treatment production line and is processed by each unit in the on-line area, the strip position feedback equipment such as sensors and lasers installed on the on-line area can only give roughly feedback on the strip. The processing position of the strip; in order to obtain the precise position of the strip in each unit in the online area, the current running speed of the strip must be determined first, so the current running speed of the strip is determined, and the current position of the strip on the online area is calculated, including:

通过以下公式1确定带材的当前运行速度：The current running speed of the strip is determined by the following formula 1:

v_c、v_En和v_Ex分别通过预先安装的速度传感器获取；的初始时刻时对应的位置为0，除初始时刻时对应的位置外，均是通过计算得到；L_{En_looper}、L_{Ex_looper}和P_{bri_1}是线上设备的属性信息，预先存储在记录线上设备属性信息的数据库中，在需要确定带材的速度时，由带材运行轨迹显示设备从数据库中获取L_{En_looper}、L_{Ex_looper}和P_{bri_1}，就可以直接对这些参数进行使用。v _c , v _En and v _Ex are respectively obtained through pre-installed speed sensors; The corresponding position at the initial moment is 0, except for the corresponding position at the initial moment, All are obtained by calculation; L _{En_looper} , L _{Ex_looper} and P _{bri_1} are the attribute information of the online equipment, which are pre-stored in the database that records the attribute information of the online equipment. When the speed of the strip needs to be determined, it is displayed by the strip running track The device obtains L _{En_looper} , L _{Ex_looper} and P _{bri_1} from the database, and can directly use these parameters.

记录线上设备属性信息的数据库，可以采用现有的任何大容量存储介质，对线上设备属性信息进行存储，这里不再一一赘述。而且数据库可以设置在单独的服务器中，也可以和带材运行轨迹显示设备一起设置在同一个服务器中，在本实施例中并不对数据库的设置位置做出限制。The database for recording online device attribute information can use any existing large-capacity storage medium to store online device attribute information, which will not be repeated here. Moreover, the database can be set in a separate server, or can be set in the same server together with the strip running track display device, and there is no limitation on the setting location of the database in this embodiment.

综上所述，可以通过获取的参数就可以确定带材的当前速度，通过简单的方式就确定了带材的当前速度，降低了计算带材在线上区域的当前位置的计算复杂度，可以加快反馈当前带材的位置给带材加工人员的时间。To sum up, the current speed of the strip can be determined through the obtained parameters, and the current speed of the strip can be determined in a simple way, which reduces the computational complexity of calculating the current position of the strip on the line, and can speed up The time to feed back the current strip position to the strip processing personnel.

当带材经过拉矫机组时存在延伸，要进行带材位置的修正操作，所以，本实施例通过以下的方式计算带材在线上区域的当前位置：When the strip passes through the stretching and straightening unit, there is an extension, and the correction operation of the strip position needs to be performed. Therefore, this embodiment calculates the current position of the strip on the online area in the following manner:

通过以下公式2计算带材在线上区域的当前位置：The current position of the strip on the line area is calculated by the following formula 2:

P_{strip_c}是线上设备的属性信息，预先存储在记录线上设备属性信息的数据库中；v_b通过预先安装的速度传感器获取；T_cb是在进行带材的轨迹显示之前由带材加工人员输入带材运行轨迹显示设备所在服务器中，以在计算带材在线上区域的当前位置时进行使用。P _{strip_c} is the attribute information of the online equipment, which is pre-stored in the database that records the online equipment attribute information; v _b is obtained through the pre-installed speed sensor; T _cb is input by the strip processing personnel before the strip track display The strip running track shows the server where the equipment is located for use when calculating the current position of the strip on the line.

综上所述，通过公式2记载的内容对带材位置进行修正，可以提高显示带材运行轨迹的准确率。To sum up, correcting the position of the strip through the content recorded in formula 2 can improve the accuracy of displaying the running track of the strip.

在得到带材在线上区域的当前位置后，为了将带材的当前位置显示在带材运行轨迹显示设备上，就得根据带材在线上区域的当前位置，确定带材在线上区域的位置坐标，所以，根据带材在线上区域的当前位置，确定带材在线上区域的位置坐标包括以下步骤1至步骤2：After obtaining the current position of the strip on the line, in order to display the current position of the strip on the strip running track display device, it is necessary to determine the position coordinates of the strip on the line according to the current position of the strip on the line , so, according to the current position of the strip on the line, determining the position coordinates of the strip on the line includes the following steps 1 to 2:

(1)通过以下公式3确定带材在线上区域的当前位置横坐标：(1) Determine the current position abscissa of the strip on the line by the following formula 3:

(2)根据带材在线上区域的当前位置和带材在线上区域的当前位置横坐标，确定带材在线上区域的当前位置纵坐标。(2) According to the current position of the on-line area of the strip material and the abscissa of the current position of the on-line area of the strip material, determine the ordinate of the current position of the on-line area of the strip material.

在步骤1中，P_r1和P_r2是线上设备的属性信息，预先存储在记录线上设备属性信息的数据库中。In step 1, P _r1 and P _r2 are the attribute information of the online device, which are pre-stored in the database that records the attribute information of the online device.

步骤2包括以下步骤21至23：Step 2 includes the following steps 21 to 23:

(21)根据带材在线上区域的当前位置，确定当前对带材进行处理的线上区域设备，线上区域设备包括：清洗机组、入口活套机组、气垫式热处理炉、拉矫机组、酸洗钝化机组和出口活套机组；(21) According to the current position of the strip on-line area, determine the current on-line area equipment for strip processing. The on-line area equipment includes: cleaning unit, inlet looper unit, air cushion heat treatment furnace, tension leveling unit, acid Washing passivation unit and export looper unit;

(22)通过预存的线上区域设备与带材运动轨迹方程的对应关系，确定当前带材对应的带材运动轨迹方程；(22) Determine the strip movement trajectory equation corresponding to the current strip through the corresponding relationship between the pre-stored online area equipment and the strip movement trajectory equation;

(23)将带材在线上区域的当前位置横坐标代入确定的带材运动轨迹方程，计算线上区域的当前位置纵坐标。(23) Substituting the abscissa of the current position of the strip on the line into the determined strip motion trajectory equation, and calculating the ordinate of the current position of the strip on the line.

在步骤21中，线上区域设备在带材运行轨迹显示设备上均对应有自己的显示区域，比如清洗机组在带材运行轨迹显示设备上对应有清洗机组显示区域。线上区域设备与对应的显示区域由显示区域的边界坐标确定，而显示区域的边界坐标都预先存储在记录线上设备属性信息的数据库中。由于线上区域的各设备是线性排布，所以在得到带材在线上区域的当前位置后，就可以根据带材在线上区域的当前位置所落入的边界坐标范围，确定当前对带材进行处理的线上区域设备。In step 21, the online area equipment has its own display area on the strip running track display device. For example, the cleaning unit has a cleaning unit display area on the strip running track display device. The online area equipment and the corresponding display area are determined by the boundary coordinates of the display area, and the boundary coordinates of the display area are pre-stored in the database recording the attribute information of the online equipment. Since the devices in the online area are arranged linearly, after obtaining the current position of the strip on the line, it is possible to determine the current processing of the strip according to the boundary coordinate range where the current position of the strip on the line falls. Handling of online zone devices.

在步骤22中，由于带材与各线上区域设备接触面形成的接触线是有固定的运行轨迹，而运行轨迹可以是曲线形或者直线形，都可以由方程表示，所以，数据库中还记录有各线上区域设备对应的带材运动轨迹方程，所以在确定当前对带材进行处理的线上区域设备后，就可以确定带材在该线上区域设备上的带材运动轨迹方程。In step 22, because the contact line formed by the strip material and the contact surface of each online area equipment has a fixed running track, and the running track can be curved or straight, and can be expressed by an equation, so it is also recorded in the database There are strip movement trajectory equations corresponding to each online area equipment, so after determining the current online area equipment that processes the strip, the strip movement trajectory equation of the strip on the online area equipment can be determined.

带材运动轨迹方程包括一次方程和二次方程，其中，一次方程用于表示直线形运行轨迹，二次方程用于表示曲线形运行轨迹。The strip motion trajectory equation includes a linear equation and a quadratic equation, wherein the linear equation is used to represent a straight-line running trajectory, and the quadratic equation is used to represent a curved running trajectory.

综上所述，通过带材在线上区域的当前位置以及预设的带材运动轨迹方程，就可以确定带材的当前位置坐标，进一步降低计算量。To sum up, the current location coordinates of the strip can be determined through the current position of the strip on the line and the preset movement trajectory equation of the strip, further reducing the amount of calculation.

在有些情况下，计算得到的带材的当前位置坐标会出现偏差，当偏差较大时，带材运行轨迹显示设备就不能正确反映带材在线上区域的位置了，所以为了提高带材运行轨迹显示设备显示带材位置的准确性，根据带材在线上区域的当前位置，确定带材在线上区域的位置坐标，还包括以下步骤3至步骤5：In some cases, the calculated current position coordinates of the strip will deviate. When the deviation is large, the strip running track display device cannot correctly reflect the position of the strip on the line. Therefore, in order to improve the strip running track The display device displays the accuracy of the position of the strip, and determines the position coordinates of the strip on the line according to the current position of the strip on the line, and also includes the following steps 3 to 5:

(3)获取带材的实际位置坐标；(3) Obtain the actual position coordinates of the strip;

(4)当计算得到的带材的当前位置坐标与实际位置坐标的距离大于设定的距离阈值时，则以实际位置坐标作为带材在线上区域的位置坐标；(4) When the distance between the current position coordinates of the calculated strip and the actual position coordinates is greater than the set distance threshold, the actual position coordinates are used as the position coordinates of the strip on the line;

(5)当计算得到的带材的当前位置坐标与实际位置坐标的距离小于等于与设定的距离阈值时，则以当前位置坐标作为带材在线上区域的位置坐标。(5) When the distance between the calculated current position coordinates of the strip and the actual position coordinates is less than or equal to the set distance threshold, the current position coordinates are used as the position coordinates of the strip on the line.

在步骤3中，通过带材位置反馈设备获取带材的实际位置坐标，然后判断计算得到的当前位置坐标与实际位置坐标的距离是否大于设定的距离阈值。In step 3, the actual position coordinates of the strip are obtained through the strip position feedback device, and then it is judged whether the distance between the calculated current position coordinates and the actual position coordinates is greater than a set distance threshold.

在通过带材位置反馈设备获取带材的实际位置坐标时，可以通过带材位置反馈设备采用现有的任何探测方式来获取带材的实际位置坐标，这里不用再一一赘述。When obtaining the actual position coordinates of the strip through the strip position feedback device, any existing detection method can be used to obtain the actual position coordinates of the strip through the strip position feedback device, which need not be repeated here.

综上所述，通过获取带材的实际位置坐标，并根据计算得到的带材的当前位置坐标与实际位置坐标的距离大小确定带材的位置坐标，从而提高带材运行轨迹显示设备显示带材位置的准确性。To sum up, by obtaining the actual position coordinates of the strip, and determining the position coordinates of the strip according to the calculated distance between the current position coordinates of the strip and the actual position coordinates, the strip running track display device can be improved to display the strip. location accuracy.

实施例2Example 2

本实施例提供另一种带材运行轨迹显示方法，该方法包括如下步骤：This embodiment provides another strip running track display method, which includes the following steps:

(1)将跟踪区域按生产功能分为5个区域，即上卷区域、开卷区域、线上区域、卷取区域、卸卷区域。只有线上区域进行带材缝合缝的位置动态精确跟踪，其他4个区域内的带材只进行宏跟踪，即只跟踪带材是否存在于区域内。线上区域设置缝合缝检测修正功能，利用模块2实现带材位置的精确修正。(1) The tracking area is divided into 5 areas according to the production function, namely the coiling area, the uncoiling area, the online area, the coiling area and the unloading area. Only the online area performs dynamic and accurate tracking of the position of the strip suture, and the strips in the other 4 areas only perform macro tracking, that is, only track whether the strip exists in the area. The seam detection and correction function is set in the online area, and the precise correction of the strip position is realized by using module 2.

(2)生产线中线上区域两侧的入口活套和出口活套设备为开卷区与卷取区的带材提供了缓冲区，活套前后运行速度不同，需根据带材位置计算带材的运行速度。(2) The entrance looper and exit looper equipment on both sides of the central line area of the production line provide a buffer zone for the strip in the uncoiling area and the coiling area. The running speed of the looper is different before and after the looper, and the running speed of the strip needs to be calculated according to the position of the strip speed.

此外，经过带材拉矫机组时存在延伸，要进行位置修正：In addition, there is an extension when passing through the strip tensioning and leveling unit, and position correction is required:

(a)计算带材位置：其中P_strip为带材头部位置，v为带材的运行速度，下标c代表当前时刻，下标b代表前一时刻，T_cb为前后两次计算间隔时间；(a) Calculate strip position: Among them, P _strip is the position of the head of the strip, v is the running speed of the strip, the subscript c represents the current moment, the subscript b represents the previous moment, and _Tcb is the interval between two calculations before and after;

(b)计算带材的运行速度v：(b) Calculate the running speed v of the strip:

$v = (\begin{matrix} v_{E n} & P_{s t r i p} \leq P_{b r_1} + L_{E n_l o o p e r} + L_{E x_l o o p e r} \\ v_{E x} & P_{s t r i p} &GreaterEqual; P_{b r_1} + L_{E n_l o o p e r} + L_{E x_l o o p e r} \end{matrix},$ 其中v_En和v_Ex分别为入口区和出口区的主令辊速度，L_{En_looper}和L_{Ex_looper}分别为入口和出口活套套长，P_{bri_1}为出口活套出口张力辊位置； $v = (\begin{matrix} v_{E. no} & P_{the s t r i p} \leq P_{b r_1} + L_{E. no_l o o p e r} + L_{E. x_l o o p e r} \\ v_{E. x} & P_{the s t r i p} &Greater Equal; P_{b r_1} + L_{E. no_l o o p e r} + L_{E. x_l o o p e r} \end{matrix},$ Among them, v _En and v _Ex are the speeds of the main roll in the entrance zone and the exit zone respectively, L _{En_looper} and L _{Ex_looper} are the lengths of the loopers at the entrance and the exit respectively, and P _{bri_1} is the position of the tension roller at the exit of the exit looper;

(c)带材运行至线上区域中的拉矫机组时，对当前带头位置P_{strip_c}进行修正计算，修正计算公式：P_{strip_c}＝P_{strip_b}+(1+λ)v_processT_cb。其中P_{strip_b}为前一时刻带材运行位置，λ为带材实际延伸率，v_process为工艺段实际运行速度。(c) When the strip runs to the tension-leveling unit in the on-line area, the current leading position P _{strip_c} is corrected and calculated, and the corrected calculation formula is: P _{strip_c} =P _{strip_b} +(1+λ)v _process T _cb . Among them, P _{strip_b} is the running position of the strip at the previous moment, λ is the actual elongation of the strip, and v _process is the actual running speed of the process section.

(3)基于入口和出口活套套长的二维坐标运算方法实现带材位置在屏幕上的相对运算。(3) The relative operation of strip position on the screen is realized based on the two-dimensional coordinate operation method of the entry and exit loop lengths.

其中，步骤(3)的带材位置在屏幕上的横坐标坐标P_x根据带材头部位置P_strip按下式中的三种情况进行计算：Wherein, the abscissa coordinate P _x of the strip position of step (3) on the screen is calculated according to the strip head position P _strip in the following formula:

${P P}_{x x} = = \{\begin{matrix} {P P}_{s the s t t r r i i p p} & {P P}_{s the s t t r r i i p p} \leq \leq {P P}_{r r 11} + + {L L}_{E E. n no__l l o o o o p p e e r r} \\ {P P}_{s the s t t r r i i p p} - - {L L}_{E E. n no__l l o o o o p p e e r r} & {P P}_{r r 11} + + {L L}_{E E. n no__l l o o o o p p e e r r} < < {P P}_{s the s t t r r i i p p} \leq \leq {P P}_{r r 22} + + {L L}_{E E. n no__l l o o o o p p e e r r} + + {L L}_{E E. x x__l l o o o o p p e e r r} \\ {P P}_{s the s t t r r i i p p} - - {L L}_{E E. n no__l l o o o o p p e e r r} - - {L L}_{E E. x x__l l o o o o p p e e r r} & {P P}_{s the s t t r r i i p p} > > {P P}_{r r 22} + + {L L}_{E E. n no__l l o o o o p p e e r r} + + {L L}_{E E. x x__l l o o o o p p e e r r} \end{matrix}$

其中，P_r1、P_r2分别代表入口活套和出口活套的出口辊道所在物理位置横坐标，为固定值。Among them, P _r1 and P _r2 respectively represent the abscissa of the physical position of the exit roller table of the entrance loop and the exit loop, which are fixed values.

根据上述的方法，所述步骤(3)的带材位置纵坐标坐标P_y是根据如下方式获得：由于带材与每台机械设备接触面在二维屏幕平面中形成的接触线轨迹是固定的，因此为每台设备划定横坐标范围。带头P_x进入划定范围内，即判定缝合缝(带头)按对应设备接触轨迹运行。运行轨迹或是圆弧形、或是直线形，几何关系明确。运行轨迹中P_x已知，P_y按运行轨迹的几何关系进行反计算。According to above-mentioned method, the strip position ordinate coordinate P _y of described step (3) is obtained according to the following manner: because the contact line locus that strip is formed in two-dimensional screen plane with every mechanical equipment contact surface is fixed , so define the abscissa range for each device. When the lead P _x enters the designated range, it is determined that the suture (lead) runs according to the contact track of the corresponding equipment. The running trajectory is either arc-shaped or straight-line, and the geometric relationship is clear. P _x in the running trajectory is known, and P _y is inversely calculated according to the geometric relationship of the running trajectory.

根据上述的方法，利用西门子WinCC软件，在编制的带材图形程序中输入横坐标P_x、纵坐标P_y和实物与屏幕的缩放比例系数，用不同颜色显示8条以上带材精确运行轨迹。According to the method mentioned above, using Siemens WinCC software, input the abscissa P _x , ordinate P _y and the scaling factor between the real object and the screen in the compiled strip graphic program, and display more than 8 precise running trajectories of the strip in different colors.

本实施例不仅可以实时精确跟踪生产线所有带材并实施逻辑控制，而且在人机接口(HumanMachineInterface，HMI)人机交互终端上可以实时显示带材运行轨迹。This embodiment can not only accurately track all the strips in the production line in real time and implement logic control, but also display the running track of the strips in real time on the human-machine interface (Human Machine Interface, HMI) human-computer interaction terminal.

综上所述，本实施例提供的带材运行轨迹显示方法，通过确定带材的当前运行速度，得到带材在线上区域的位置坐标，并根据带材在线上区域的位置坐标，在显示设备上显示带材的运行轨迹，与现有技术中通过带材位置反馈设备获取带材的位置时由于设备的灵敏度低不能实时的将当前带材的位置反馈给获取给带材加工人员的缺陷相比，可以实时获取带材的位置坐标，可以及时的将当前带材的位置反馈给获取给带材加工人员，使得带材加工人员能及时转换针对带材的工艺规程，而且无需在气垫式热处理生产线上安装大量的带材位置反馈设备，降低了带材加工的成本。To sum up, the method for displaying the running track of the strip provided in this embodiment obtains the position coordinates of the strip on the line by determining the current running speed of the strip, and according to the position coordinates of the strip on the line, the display device The running track of the strip is displayed on the screen, which is similar to the defect in the prior art that the current strip position cannot be fed back to the strip processing personnel in real time due to the low sensitivity of the equipment when the strip position is obtained by the strip position feedback device. Compared, the position coordinates of the strip can be obtained in real time, and the current position of the strip can be fed back to the strip processing personnel in time, so that the strip processing personnel can convert the process regulations for the strip in time, and there is no need for air cushion heat treatment A large number of strip position feedback devices are installed on the production line, which reduces the cost of strip processing.

实施例3Example 3

参见图3，本实施例提供一种带材运行轨迹显示装置，该带材运行轨迹显示装置用于执行上述的带材运行轨迹显示方法，带材运行轨迹显示装置包括：当前位置计算模块300、位置坐标确定模块302和显示模块304。Referring to FIG. 3 , this embodiment provides a strip running track display device, which is used to implement the above-mentioned strip running track display method, and the strip running track display device includes: a current position calculation module 300, A location coordinate determination module 302 and a display module 304 .

其中，当前位置计算模块300，用于确定带材的当前运行速度，计算带材在线上区域的当前位置；Wherein, the current position calculation module 300 is used to determine the current running speed of the strip, and calculate the current position of the strip on the online area;

位置坐标确定模块302，与当前位置计算模块300连接，用于根据带材在线上区域的当前位置，确定带材在线上区域的位置坐标；The position coordinate determination module 302 is connected with the current position calculation module 300, and is used to determine the position coordinates of the online area of the strip according to the current position of the online area of the strip;

显示模块304，与位置坐标确定模块302连接，用于根据带材在线上区域的位置坐标，显示带材的运行轨迹。The display module 304 is connected with the position coordinate determination module 302, and is used to display the running track of the strip according to the position coordinates of the strip on the online area.

在相关技术中，当带材进入气垫式热处理生产线的线上区域而被线上区域的各机组处理时，只能通过线上区域上安装的传感器、激光器等带材位置反馈设备大致反馈带材的处理位置；为了得到带材在线上区域各机组中的精确位置，就得先确定带材的当前运行速度，所以当前位置计算模块300，包括：第一计算单元；In the related technology, when the strip enters the on-line area of the air-cushion heat treatment production line and is processed by each unit in the on-line area, the strip position feedback equipment such as sensors and lasers installed on the on-line area can only give roughly feedback on the strip. processing position; in order to obtain the precise position of the strip in each unit in the online area, the current running speed of the strip must be determined first, so the current position calculation module 300 includes: a first calculation unit;

第一计算单元，用于通过以下公式1确定带材的当前运行速度：The first calculation unit is used to determine the current running speed of the strip by the following formula 1:

当带材经过拉矫机组时存在延伸，要进行带材位置的修正操作，所以，为了对带材的位置进行修正，当前位置计算模块302还包括：第二计算单元；第二计算单元，用于通过以下公式2计算带材在线上区域的当前位置：When the strip passes through the stretching and straightening unit, there is an extension, and the correction operation of the strip position needs to be performed. Therefore, in order to correct the position of the strip, the current position calculation module 302 also includes: a second calculation unit; is used to calculate the current position of the strip on the line area by the following formula 2:

在得到带材在线上区域的当前位置后，为了将带材的当前位置显示在带材运行轨迹显示设备上，就得根据带材在线上区域的当前位置，确定带材在线上区域的位置坐标，所以，位置坐标确定模块，包括：After obtaining the current position of the strip on the line, in order to display the current position of the strip on the strip running track display device, it is necessary to determine the position coordinates of the strip on the line according to the current position of the strip on the line , so the location coordinate determination module includes:

当前位置纵坐标计算单元，用于根据带材在线上区域的当前位置和带材在线上区域的当前位置横坐标，确定带材在线上区域的当前位置纵坐标。The current position ordinate calculation unit is used to determine the current position ordinate of the strip on-line area according to the current position of the strip on-line area and the current position abscissa of the strip on-line area.

综上所述，本实施例提供的带材运行轨迹显示装置，通过确定带材的当前运行速度，得到带材在线上区域的位置坐标，并根据带材在线上区域的位置坐标，在显示设备上显示带材的运行轨迹，与现有技术中通过带材位置反馈设备获取带材的位置时由于设备的灵敏度低不能实时的将当前带材的位置反馈给获取给带材加工人员的缺陷相比，可以实时获取带材的位置坐标，可以及时的将当前带材的位置反馈给获取给带材加工人员，使得带材加工人员能及时转换针对带材的工艺规程，而且无需在气垫式热处理生产线上安装大量的带材位置反馈设备，降低了带材加工的成本。To sum up, the strip running track display device provided in this embodiment obtains the position coordinates of the strip on the line by determining the current running speed of the strip, and according to the position coordinates of the strip on the line, the display device The running track of the strip is displayed on the screen, which is similar to the defect in the prior art that the current strip position cannot be fed back to the strip processing personnel in real time due to the low sensitivity of the equipment when the strip position is obtained by the strip position feedback device. Compared, the position coordinates of the strip can be obtained in real time, and the current position of the strip can be fed back to the strip processing personnel in time, so that the strip processing personnel can convert the process regulations for the strip in time, and there is no need for air cushion heat treatment A large number of strip position feedback devices are installed on the production line, which reduces the cost of strip processing.

实施例4Example 4

参见图4，本实施例提供另一种带材运行轨迹显示装置，包括：带材位置计算模块1、缝合缝检测修正模块2、活套套长计算模块3以及HMI动态显示模块4实现带材动态可视化跟踪。本实施例提供另一种带材运行轨迹显示装置的跟踪区域针对连续带材无法检测缝合缝位置，采用了图5所示带材上打孔的方式，利用双重缝合缝检测装置，配置高精度纠偏装置防止带材跑偏。Referring to Fig. 4, the present embodiment provides another strip running track display device, including: a strip position calculation module 1, a suture seam detection and correction module 2, a looper sleeve length calculation module 3, and an HMI dynamic display module 4 to realize strip dynamics Visual tracking. This embodiment provides another tracking area of the strip running track display device. The continuous strip cannot detect the position of the seam. The deviation correction device prevents the deviation of the strip.

在带材头进入检测位置区域内，即检测位置向前和向后5m内时，缝合缝检测修正模块2的跟踪修正才起作用。When the strip head enters the detection position area, that is, the detection position is forward and backward within 5m, the tracking correction of the seam detection and correction module 2 takes effect.

带材位置计算模块1的带材位置计算原理为：将跟踪区域按生产功能分为5个区域，即上卷区域、开卷区域、线上区域、卷取区域、卸卷区域。线上区域按工艺过程可分为入口区、工艺区和出口区。工艺区与入口区、出口区被入口活套和出口活套隔离。与常规带材运行不同，活套前后带材的运行速度不同，在线带材运行存在三种速度：入口速度、工艺段速度和出口速度。经过线上区域拉矫机拉矫后的带材会有一定的延伸。为实现上述复杂过程的带材位置计算，要进行带材缝合缝位置计算和缝合缝速度计算。位置计算公式：其中P_strip为带材头部位置，v为带材的运行速度，下标c代表当前时刻，下标b代表前一时刻，T_cb为前后两次计算间隔时间。缝合缝运行速度v计算见公式(1)，其中v_En和v_Ex分别为入口区和出口区速度主令辊速度、L_{En_looper}和L_{Ex_looper}分别为入口和出口活套套长、P_{bri_1}为出口活套出口张力辊位置。The strip position calculation principle of the strip position calculation module 1 is: the tracking area is divided into five areas according to the production function, namely, the coiling area, the uncoiling area, the online area, the coiling area, and the coiling area. The online area can be divided into entrance area, process area and exit area according to the process. The process area is separated from the entrance area and the exit area by the entrance looper and the exit looper. Different from the conventional strip running, the running speed of the strip before and after the looper is different. There are three speeds in the online strip running: entry speed, process section speed and exit speed. The strip after being pulled and leveled by the tension leveling machine in the online area will have a certain extension. In order to realize the calculation of the position of the strip in the above complex process, the calculation of the position of the suture of the strip and the calculation of the speed of the suture must be carried out. Position calculation formula: Among them, P _strip is the position of the head of the strip, v is the running speed of the strip, the subscript c represents the current moment, the subscript b represents the previous moment, and T _cb is the interval time between two calculations. See the formula (1) for the calculation of the seam running speed v, where v _En and v _Ex are the speeds of the main roller in the entrance area and the exit area respectively, L _{En_looper} and L _{Ex_looper} are the lengths of the entrance and exit looper respectively, and P _{bri_1} is the length of the exit loop. Set the position of the exit tension roller.

缝合缝检测修正模块2中，缝合缝检测修正只有缝合缝进入检测位置区域内，即检测位置向前和向后5m内时，缝合缝检测修正模块2的跟踪修正才起作用。其原理是当缝合缝检测传感器检测到下降沿信号时，比较传感器前后5m范围内的缝合缝计算位置与检测传感器安装位置的差值，差值的绝对值大于容许值时，对计算位置进行修正，以传感器位置值代替计算值。In the seam detection and correction module 2, the seam detection and correction module 2's tracking correction works only when the seam enters the detection position area, that is, within 5m forward and backward of the detection position. The principle is that when the seam detection sensor detects a falling edge signal, compare the difference between the calculated position of the seam within 5m before and after the sensor and the installation position of the detection sensor. When the absolute value of the difference is greater than the allowable value, the calculated position is corrected. , to replace the calculated value with the sensor position value.

活套套长计算模块3中，L_{En_looper}和L_{Ex_looper}依据活套小车电机编码器测量值预先确定。In the looper sleeve length calculation module 3, L _{En_looper} and L _{Ex_looper} are pre-determined according to the measured value of the looper trolley motor encoder.

缝合缝进入拉矫机组时，对带头位置进行修正计算考虑延伸率影响，修正计算公式如公式(2)。其中ΔL＝λv_processT_cb，λ为带材实际延伸率、v_process为工艺段实际运行速度。When the suture seam enters the tension leveling unit, the position of the leading head is corrected and calculated considering the influence of the elongation rate, and the corrected calculation formula is shown in formula (2). Among them, ΔL=λv _process T _cb , λ is the actual elongation of the strip, and v _process is the actual running speed of the process section.

P_{strip_c}＝P_{strip_c}+ΔL＝P_{strip_b}+(1+λ)v_processT_cb(2)P _{strip_c} =P _{strip_c} +ΔL=P _{strip_b} +(1+λ)v _process T _cb (2)

HMI动态显示模块实现人机交互终端上绘制铝带动态运行轨迹图，利用西门子WinCC软件，可以用不同颜色显示8条以上带材。开发基于活套套长的二维坐标运算方法，其原理是基于零活套套长时带材穿过设备的带长位置对应的图形坐标绘制设备。然而实际生产中活套套长不为零。为解决动态显示问题，带材头部在HMI屏幕上水平轴的位置P_x按公式(3)计算。其中P_r1、P_r2分别代表入口和出口活套出口辊道所在的水平物理位置。The HMI dynamic display module realizes the drawing of the dynamic trajectory diagram of the aluminum strip on the human-computer interaction terminal. Using Siemens WinCC software, more than 8 strips can be displayed in different colors. Develop a two-dimensional coordinate calculation method based on the length of the looper. The principle is based on the graphic coordinate drawing equipment corresponding to the strip length position of the strip passing through the equipment when the length of the looper is zero. However, the length of the looper is not zero in actual production. In order to solve the problem of dynamic display, the position P _x of the strip head on the horizontal axis on the HMI screen is calculated according to formula (3). Among them, P _r1 and P _r2 respectively represent the horizontal physical positions of the entrance and exit looper exit rollers.

带材位置纵坐标坐标P_y是根据如下方式获得：带材与每台机械设备接触面在HMI二维平面中形成的接触线是有固定轨迹的，因此为每台设备划定横坐标范围。带头P_x进入划定范围即判定缝合缝(带头)按对应设备接触轨迹运转。运行轨迹或是圆弧形、或是直线形，几何关系明确。运行轨迹中P_x已知，P_y按运行轨迹的几何关系进行反计算。例如图6中，设带材接触起始点坐标为1000，则1#张力辊组的1#辊接触线1对应的带材横坐标范围为1000～1000+l₁，接触线2为1000+l1～1000+l2，2#辊为横坐标范围为1000-l₂～1000+l₂，其中l₁、l₂、l₃为定值。带材与张力辊的接触线轨迹是圆弧。缝合缝在1#辊上时，带材头部横坐标P_x和纵坐标P_y满足缝合缝在2#辊上时，带材头部满足缝合缝在直线段时P_y＝a(P_x-1000-l₁)+b，a，b为常数。这样在P_x已知的情况下就可以反算出P_x的值，从而获得缝合缝的横坐标和纵坐标位置。The vertical coordinate P _y of the strip position is obtained in the following way: the contact line formed by the contact surface between the strip and each mechanical equipment in the HMI two-dimensional plane has a fixed trajectory, so the abscissa range is delineated for each equipment. When the leading P _x enters the designated range, it is determined that the suture (leading) runs according to the contact track of the corresponding equipment. The running trajectory is either arc-shaped or straight-line, and the geometric relationship is clear. P _x in the running trajectory is known, and P _y is inversely calculated according to the geometric relationship of the running trajectory. For example, in Figure 6, if the coordinates of the starting point of strip contact are 1000, then the abscissa range of the strip corresponding to the contact line 1 of the 1# roller of the 1# tension roller group is 1000～1000+l ₁ , and the contact line 2 is 1000+l1 ～1000+l2, the range of abscissa of 2# roll is 1000-l ₂ ～1000+l ₂ , where l ₁ , l ₂ , and l ₃ are fixed values. The track of the contact line between the strip and the tension roller is a circular arc. When the seam is on the 1# roller, the abscissa P _x and the ordinate P _y of the strip head satisfy When the seam is sewn on the 2# roller, the head of the strip satisfies When the suture is in the straight line segment, P _y =a(P _x -1000-l ₁ )+b, where a and b are constants. In this way, when P _x is known, the value of P _x can be inversely calculated, so as to obtain the position of the abscissa and ordinate of the seam.

获得带材横坐标与纵坐标后，带材在HMI图像中就可以二维坐标形式数字化，在屏幕上动态显示。After obtaining the abscissa and ordinate of the strip, the strip can be digitized in the form of two-dimensional coordinates in the HMI image and dynamically displayed on the screen.

综上所述，本实施例提供的带材运行轨迹显示装置，通过确定带材的当前运行速度，得到带材在线上区域的位置坐标，并根据带材在线上区域的位置坐标，在显示设备上显示带材的运行轨迹，与现有技术中通过带材位置反馈设备获取带材的位置时由于设备的灵敏度低不能实时的将当前带材的位置反馈给获取给带材加工人员的缺陷相比，可以实时获取带材的位置坐标，可以及时的将当前带材的位置反馈给获取给带材加工人员，使得带材加工人员能及时转换针对带材的工艺规程，而且无需在气垫式热处理生产线上安装大量的带材位置反馈设备，降低了带材加工的成本。To sum up, the strip running track display device provided in this embodiment obtains the position coordinates of the strip on the line by determining the current running speed of the strip, and according to the position coordinates of the strip on the line, the display device The running track of the strip is displayed on the screen, which is similar to the defect that the current strip position cannot be fed back to the strip processing personnel in real time due to the low sensitivity of the equipment when the strip position is obtained by the strip position feedback device in the prior art. Compared, the position coordinates of the strip can be obtained in real time, and the current position of the strip can be fed back to the strip processing personnel in time, so that the strip processing personnel can convert the process regulations for the strip in time, and there is no need for air cushion heat treatment A large number of strip position feedback devices are installed on the production line, which reduces the cost of strip processing.

本发明实施例所提供的进行带材运行轨迹显示方法的计算机程序产品，包括存储了程序代码的计算机可读存储介质，所述程序代码包括的指令可用于执行前面方法实施例中所述的方法，具体实现可参见方法实施例，在此不再赘述。The computer program product for performing the method for displaying the running track of the strip provided by the embodiments of the present invention includes a computer-readable storage medium storing program codes, and the instructions included in the program codes can be used to execute the methods described in the preceding method embodiments For specific implementation, refer to the method embodiments, and details are not repeated here.

所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。Those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.

在本申请所提供的几个实施例中，应该理解到，所揭露的系统、装置和方法，可以通过其它的方式实现。以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，又例如，多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些通信接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods may be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some communication interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.

所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-OnlyMemory)、随机存取存储器(RAM，RandomAccessMemory)、磁碟或者光盘等各种可以存储程序代码的介质。If the functions described above are realized in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-OnlyMemory), random access memory (RAM, RandomAccessMemory), magnetic disk or optical disk and other media that can store program codes.

以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应所述以权利要求的保护范围为准。The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Anyone skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present invention. Should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A strip running track display method, characterized in that, comprising:

determining the current running speed of the strip and calculating the current position of the strip on the line;

determining the position coordinates of the strip on the on-line area according to the current position of the strip on the on-line area;

According to the position coordinates of the strip on the line area, the running track of the strip is displayed.

2. The method according to claim 1, wherein determining the current running speed of the strip and calculating the current position of the strip on the online zone comprises:

The current running speed of the strip is determined by the following formula 1:

{v v}_{c c} = = \{\begin{matrix} {v v}_{E E. n no} & {P P}_{{strip strip}_{__b b}} \leq \leq {P P}_{b b r r i i__11} + + {L L}_{E E. n no__l l o o o o p p e e r r} + + {L L}_{E E. x x__l l o o o o p p e e r r} \\ {v v}_{E E. x x} & {P P}_{{strip strip}_{__b b}} \leq \leq {P P}_{b b r r i i__11} + + {L L}_{E E. n no__l l o o o o p p e e r r} + + {L L}_{E E. x x__l l o o o o p p e e r r} \end{matrix} - - - - - - ((11))

Among them, v _c represents the running speed of the strip at the current moment, v _En represents the master roll speed of the entry looper unit in the online area, v _Ex represents the master roll speed of the exit looper unit in the online area, P _{strip_b} represents the belt L _{En_looper represents the length of the entry looper, L Ex_looper} _represents the length of the exit looper, and P _{bri_1} represents the position of the exit tension roller of the exit looper.

3. The method according to claim 2, wherein determining the current running speed of the strip, and calculating the current position of the strip on the online zone, comprises:

The current position of the strip on the line area is calculated by the following formula 2:

{P P}_{s the s t t r r i i p p__c c} = = {P P}_{s the s t t r r i i p p__b b} + + \frac{{v v}_{c c} + + {v v}_{b b}}{22} {T T}_{c c b b} - - - - - - ((22))

Among them, P _{strip_c} represents the current position of the strip head, v _b represents the running speed of the strip at the previous moment, and T _cb is a preset constant, representing the calculation interval between the current moment and the previous moment.

4. The method according to claim 1, wherein, according to the current position of the strip on the on-line region, determining the position coordinates of the strip on the on-line region comprises:

The abscissa of the current position of the strip on the line area is determined by the following formula 3:

{P P}_{x x} = = \{\begin{matrix} {P P}_{s the s t t r r i i p p__c c} & {P P}_{s the s t t r r i i p p__c c} \leq \leq {P P}_{r r 11} + + {L L}_{E E. n no__l l o o o o p p e e r r} \\ {P P}_{s the s t t r r i i p p__c c} - - {L L}_{E E. n no__l l o o o o p p e e r r} & {P P}_{r r 11} + + {L L}_{E E. n no__l l o o o o p p e e r r} < < {P P}_{s the s t t r r i i p p__c c} \leq \leq {P P}_{r r 22} + + {L L}_{E E. n no__l l o o o o p p e e r r} + + {L L}_{E E. x x__l l o o o o p p e e r r} \\ {P P}_{s the s t t r r i i p p__c c} - - {L L}_{E E. n no__l l o o o o p p e e r r} - - {L L}_{E E. x x__l l o o o o p p e e r r} & {P P}_{s the s t t r r i i p p__c c} > > {P P}_{r r 22} + + {L L}_{E E.__l l o o o o p p e e r r} + + {L L}_{E E. x x__l l o o o o p p e e r r} \end{matrix} - - - - - - ((33))

Among them, P _x represents the abscissa of the current position of the strip on the line, P _{strip_c} represents the current position of the strip head, L _{En_looper} represents the length of the entry looper, L _{Ex_looper} represents the length of the exit looper, P _r1 and P _r2 are constants ;

According to the current position of the strip on the on-line area and the abscissa of the current position of the strip on the on-line area, determine the ordinate of the current position of the strip on the on-line area.

5. The method according to claim 4, characterized in that, according to the current position of the strip on the on-line area and the abscissa of the current position of the strip on the on-line area, determine the strip The ordinate of the current position of the material on the above-mentioned line area, including:

According to the current position of the strip in the on-line area, determine the on-line area equipment currently processing the strip, and the on-line area equipment includes: a cleaning unit, an inlet looper unit, and an air-cushion heat treatment furnace , tension leveling unit, pickling passivation unit and export looper unit;

Determine the strip movement trajectory equation corresponding to the current strip through the pre-stored correspondence between the online area equipment and the strip movement trajectory equation;

Substituting the abscissa of the current position of the strip on the on-line area into the determined motion trajectory equation of the strip to calculate the ordinate of the current position of the on-line area.

6. The method according to claim 4, wherein, according to the current position of the strip on the on-line region, determining the position coordinates of the strip on the on-line region also includes:

Obtaining the actual position coordinates of the strip;

When the calculated distance between the current position coordinates of the strip and the actual position coordinates is greater than a set distance threshold, the actual position coordinates are used as the position coordinates of the strip on the line;

When the distance between the calculated current position coordinates of the strip and the actual position coordinates is less than or equal to the set distance threshold, the current position coordinates are used as the position of the strip on the line area coordinate.

7. A strip running track display device, characterized in that it comprises:

The current position calculation module is used to determine the current running speed of the strip, and calculate the current position of the strip on the online area;

A position coordinate determination module, configured to determine the position coordinates of the strip on the on-line area according to the current position of the strip on the on-line area;

The display module is configured to display the running track of the strip according to the position coordinates of the strip on the line area.

8. The device according to claim 7, wherein the current position calculation module comprises: a first calculation unit;

The first calculation unit is used to determine the current running speed of the strip through the following formula 1:

{v v}_{c c} = = \{\begin{matrix} {v v}_{E E. n no} & {P P}_{{strip strip}_{__b b}} \leq \leq {P P}_{b b r r i i__11} + + {L L}_{E E. n no__l l o o o o p p e e r r} + + {L L}_{E E. x x__l l o o o o p p e e r r} \\ {v v}_{E E. x x} & {P P}_{{strip strip}_{__b b}} \leq \leq {P P}_{b b r r i i__11} + + {L L}_{E E. n no__l l o o o o p p e e r r} + + {L L}_{E E. x x__l l o o o o p p e e r r} \end{matrix} - - - - - - ((11))

9. The device according to claim 8, wherein the current position calculation module comprises: a second calculation unit;

The second calculation unit is used to calculate the current position of the strip on the online area by the following formula 2:

{P P}_{s the s t t r r i i p p__c c} = = {P P}_{s the s t t r r i i p p__b b} + + \frac{{v v}_{c c} + + {v v}_{b b}}{22} {T T}_{c c b b} - - - - - - ((22))

10. The device according to claim 7, wherein the location coordinate determination module comprises:

The current position abscissa calculation unit is used to determine the current position abscissa of the strip on the line area by the following formula 3:

{P P}_{x x} = = \{\begin{matrix} {P P}_{s the s t t r r i i p p__c c} & {P P}_{s the s t t r r i i p p__c c} \leq \leq {P P}_{r r 11} + + {L L}_{E E. n no__l l o o o o p p e e r r} \\ {P P}_{s the s t t r r i i p p__c c} - - {L L}_{E E. n no__l l o o o o p p e e r r} & {P P}_{r r 11} + + {L L}_{E E. n no__l l o o o o p p e e r r} < < {P P}_{s the s t t r r i i p p__c c} \leq \leq {P P}_{r r 22} + + {L L}_{E E. n no__l l o o o o p p e e r r} + + {L L}_{E E. x x__l l o o o o p p e e r r} \\ {P P}_{s the s t t r r i i p p__c c} - - {L L}_{E E. n no__l l o o o o p p e e r r} - - {L L}_{E E. x x__l l o o o o p p e e r r} & {P P}_{s the s t t r r i i p p__c c} > > {P P}_{r r 22} + + {L L}_{E E.__l l o o o o p p e e r r} + + {L L}_{E E. x x__l l o o o o p p e e r r} \end{matrix} - - - - - - ((33))

The current position ordinate calculation unit is configured to determine that the strip is on the line according to the current position of the strip on the line area and the current position abscissa of the strip on the line area The ordinate of the current location of the region.