CN-120940400-B - Steel plate rolling deviation correcting method, system, equipment and medium

CN120940400BCN 120940400 BCN120940400 BCN 120940400BCN-120940400-B

Abstract

The application discloses a steel plate rolling deviation correcting method, a system, equipment and a medium, and relates to the field of rolling production technology, wherein the method comprises the steps of acquiring echo signal data of a steel plate of a rolling production line based on a millimeter wave radar, and carrying out filtering analysis and sampling on the echo signal data of the steel plate of the rolling production line to obtain detection distances of a plurality of detection points and antenna reflection angles; the method comprises the steps of carrying out coordinate conversion calibration on a plurality of detection points based on a preset three-dimensional rectangular coordinate system, obtaining three-dimensional coordinates of the detection points through the detection distances and the antenna reflection angles, calculating a first offset corresponding to a first offset point and a second offset corresponding to a second offset point according to the three-dimensional coordinates of each detection point, calculating a steel plate offset rate according to the first offset and the second offset and combining a preset steel plate set width, and rectifying the movement direction of the steel plate in the rolling process according to the steel plate offset rate. The application can maintain the rolling deviation correction of the high-precision steel plate in a complex environment.

Inventors

XIE BAOSHENG
MA YUXING
WANG JING
GONG YUHAO
PENG KAIYU
ZHAO RU

Assignees

湖南钢铁集团技术研究院有限公司

Dates

Publication Date: 20260508
Application Date: 20251020

Claims (9)

1. The steel plate rolling deviation correcting method is characterized by comprising the following steps of: Based on millimeter wave radar, acquiring echo signal data of a rolling line steel plate, and carrying out filtering analysis and sampling on the echo signal data of the rolling line steel plate to obtain detection distances of a plurality of detection points and corresponding antenna reflection angles, wherein the method specifically comprises the following steps: screening and focusing the echo signal data of the rolling line steel plate according to a preset detection distance interval, intercepting the signal data in the detection distance interval in the echo signal data of the rolling line steel plate during screening, and performing data smoothing on the intercepted signal data to obtain a first time domain signal; the detection distance interval is determined based on a water mist diffusion distance, a first echo component in the first time domain signal is estimated, a second time domain signal is obtained according to a difference value between the first time domain signal and the first echo component, the first echo component is generated through water mist static scattering and static object reflection, fourier transformation is carried out on the second time domain signal in a slow time dimension of the second time domain signal, a first frequency domain signal is obtained, a second echo component in the first frequency domain signal is estimated and filtered through a preset filter, a second frequency domain signal is obtained, the second echo component is generated through water mist dynamic scattering, interference filtering and target detection are carried out on the second frequency domain signal based on a constant false alarm rate algorithm, potential target point cloud is obtained, effective point sampling is carried out on the potential target point cloud, a plurality of detection points are determined, and detection distances and antenna reflection angles of the detection points are obtained; Based on a preset three-dimensional rectangular coordinate system, performing coordinate conversion calibration on a plurality of detection points, and obtaining three-dimensional coordinates of the plurality of detection points through the detection distance and the antenna reflection angle; Calculating a first offset corresponding to a first offset point and a second offset corresponding to a second offset point according to the three-dimensional coordinates of each detection point, wherein the first offset point and the second offset point are two detection points with the farthest distances between all detection points in the longitudinal axis direction of the three-dimensional rectangular coordinate system; according to the first offset and the second offset, combining preset steel plate set widths, calculating a steel plate offset rate, and correcting the movement direction of the steel plate in the rolling process according to the steel plate offset rate.
2. The method for rolling and correcting deviation of steel plate according to claim 1, wherein the performing coordinate conversion calibration on the plurality of detection points based on a preset three-dimensional rectangular coordinate system, and obtaining three-dimensional coordinates of the plurality of detection points through the detection distance and the antenna reflection angle specifically comprises: The three-dimensional rectangular coordinate system is used for constructing a coordinate system conversion model, wherein the three-dimensional rectangular coordinate system takes a vertical projection point of a central radar on a roller way as an origin, takes a movement direction of a steel plate on the roller way as a transverse axis positive direction, takes a anticlockwise vertical direction of the movement direction of the steel plate on the roller way as a longitudinal axis positive direction, and takes a direction of a plane of the roller way pointing to a plane of the central radar as a vertical axis positive direction; And according to the coordinate system conversion model, performing coordinate conversion and space position calibration on a plurality of detection points, and calculating the detection distance and antenna reflection angle conversion of each detection point as three-dimensional coordinates of the corresponding detection point in the three-dimensional rectangular coordinate system to obtain three-dimensional coordinates of the plurality of detection points.
3. The method for rolling and correcting the deviation of the steel plate according to claim 2, wherein the coordinate system transformation model is specifically: ; Wherein, the Is formed by pitching around a longitudinal axis Roll angle around transverse axis And yaw angle about vertical axis The size of the constitution is Is used for the rotation matrix of the (c), For the original three-dimensional coordinates of the detection point to be mapped and calculated based on the detection distance and the antenna reflection angle, For the three-dimensional coordinates of the detection point in the three-dimensional rectangular coordinate system, For translating the calibration vector.
4. The method for rolling and correcting deviation of steel plate according to claim 1, wherein the calculating the first deviation corresponding to the first deviation point and the second deviation corresponding to the second deviation point according to the three-dimensional coordinates of each detection point specifically comprises: calculating absolute values of longitudinal coordinate difference values between every two detection points according to three-dimensional coordinates of each detection point, and taking two detection points corresponding to the largest absolute value as a first offset point and a second offset point; And respectively calculating Euclidean distances between the first offset point and the reference point and between the second offset point and the reference point by taking the origin of the three-dimensional rectangular coordinate system as the reference point, so as to obtain corresponding first offset and second offset.
5. The method for correcting the rolling of the steel plate according to claim 1, wherein the method for correcting the rolling direction of the steel plate according to the first offset and the second offset, in combination with a preset steel plate set width, calculates a steel plate offset rate, and corrects the moving direction of the steel plate in the rolling process according to the steel plate offset rate, comprises the following steps: Calculating an offset difference between the first offset and the second offset, and taking an absolute value of a ratio of the offset difference to the set width of the steel plate as a steel plate offset rate; determining a steel plate deviation rectifying operation based on the numerical relation between the steel plate deviation rate and a preset early warning threshold value and a stopping threshold value, and rectifying the movement direction of the steel plate in the rolling process according to the steel plate deviation rectifying operation, wherein the early warning threshold value is smaller than the stopping threshold value, and the early warning threshold value and the stopping threshold value are determined based on the maximum allowable deviation amount.
6. The method for correcting rolling of steel plates according to claim 5, wherein the step of determining the steel plate correction operation based on the magnitude relation between the steel plate deviation rate and the preset early warning threshold and shutdown threshold, and correcting the movement direction of the steel plate in the rolling process according to the steel plate correction operation specifically comprises the steps of: If the steel plate offset rate is larger than the early warning threshold and is not larger than the shutdown threshold, uploading the steel plate offset rate to a rack adjusting system, so that the rack adjusting system can select a roll gap corresponding to concavity according to the steel plate offset rate to roll the steel plate, and correcting deviation of the steel plate rolling according to the roll gap selected by the rack adjusting system.
7. A steel plate rolling deviation correcting system, which is characterized by being used for realizing the steel plate rolling deviation correcting method according to any one of claims 1 to 6, and comprising an echo filtering sampling module, a coordinate conversion calibration module, a steel plate deviation calculating module and a steel plate rolling deviation correcting module; The echo filtering sampling module is used for acquiring echo signal data of the rolling line steel plate based on the millimeter wave radar, and carrying out filtering analysis and sampling on the echo signal data of the rolling line steel plate to obtain detection distances of a plurality of detection points and corresponding antenna reflection angles; The coordinate conversion calibration module is used for performing coordinate conversion calibration on a plurality of detection points based on a preset three-dimensional rectangular coordinate system, and obtaining three-dimensional coordinates of the plurality of detection points through the detection distance and the antenna reflection angle; the steel plate offset calculation module is used for calculating a first offset corresponding to a first offset point and a second offset corresponding to a second offset point according to the three-dimensional coordinates of each detection point, wherein the first offset point and the second offset point are two detection points with the farthest distances between all detection points in the longitudinal axis direction of the three-dimensional rectangular coordinate system; The steel plate rolling deviation correcting module is used for calculating the steel plate deviation rate according to the first deviation and the second deviation and combining the preset steel plate set width, and correcting the movement direction of the steel plate in the rolling process according to the steel plate deviation rate.
8. A computer device, comprising: A processor; A memory; a computer program stored in the memory and configured to be executed by the processor; Wherein the processor, when executing the computer program, implements a method for rolling and correcting a deviation of a steel plate according to any one of claims 1 to 6.
9. A computer readable storage medium storing a plurality of instructions adapted to be loaded by a processor to perform a method of rolling stock correction as claimed in any one of claims 1 to 6.

Description

Steel plate rolling deviation correcting method, system, equipment and medium Technical Field The application relates to the field of rolling production technology, in particular to a steel plate rolling deviation correcting method, a system, equipment and a medium. Background In the rolling and transmission process of the steel plate rolling production process, the deviation phenomenon of the steel plate is caused by factors such as non-identical equipment precision, uneven rolling and transmission tension, external disturbance of a system and the like, and the probability of the deviation phenomenon is improved due to high-speed threading speed and long-time rolling in the rolling and transmission process. The slight deviation can cause rolling damage at the edge of the steel plate, the working roll of the stand is required to be replaced after the machine is stopped and the offline roll is repaired, so that the production efficiency is affected, the serious deviation can directly cause steel scrap accidents, equipment such as a rolling mill guide device and a roller way are possibly damaged, long-time stopping is required for steel scrap cleaning operation, the production efficiency is greatly reduced, and meanwhile, the quality problems such as edge defects, uneven thickness and the like are easily caused as long as the deviation phenomenon occurs, so that the yield and the surface quality of steel plate products are affected. In order to realize high-quality stable rolling of the steel plate, prolong the service period of the roller, reduce the production interruption time and ensure continuous high-efficiency production, deviation correction is necessary to the deviation phenomenon. The deviation correction in the current rolling production process generally depends on the rolling deviation amount of images in the steel plate rolling process collected and identified by an industrial detection camera with high temperature resistance, vibration prevention and fog prevention, and the deviation correction of the steel plate is performed by predicting the deviation trend of the steel plate through a prediction model. But in the rolling process of the steel plate, in order to ensure the quality of the steel plate, the production capacity of equipment is fully utilized, the steel plate in the rolling process is sprayed with water for cooling, and a large amount of vapor (water mist) and iron scales are generated in the evaporation process of cooling water on the hot steel plate, so that the accuracy of a correction scheme based on visual identification of a camera is seriously affected. Therefore, how to maintain high-precision deviation correction under complex environments such as water vapor (water mist) and the like so as to ensure the rolling precision and efficiency of the steel plate is still a problem to be solved in the prior art. Disclosure of Invention The application provides a steel plate rolling deviation rectifying method, a system, equipment and a medium, which are used for solving the technical problem that the prior art cannot maintain high-precision steel plate rolling deviation rectifying in a complex environment. According to a first aspect of the embodiment of the present application, there is provided a method for correcting a rolling deviation of a steel plate, including: acquiring echo signal data of a rolling line steel plate based on a millimeter wave radar, and performing filtering analysis and sampling on the echo signal data of the rolling line steel plate to obtain detection distances of a plurality of detection points and corresponding antenna reflection angles; Based on a preset three-dimensional rectangular coordinate system, performing coordinate conversion calibration on a plurality of detection points, and obtaining three-dimensional coordinates of the plurality of detection points through the detection distance and the antenna reflection angle; Calculating a first offset corresponding to a first offset point and a second offset corresponding to a second offset point according to the three-dimensional coordinates of each detection point, wherein the first offset point and the second offset point are two detection points with the farthest distances between all detection points in the longitudinal axis direction of the three-dimensional rectangular coordinate system; according to the first offset and the second offset, combining preset steel plate set widths, calculating a steel plate offset rate, and correcting the movement direction of the steel plate in the rolling process according to the steel plate offset rate. According to the method, firstly, echo signal data of a steel plate of a rolling production line are obtained through a millimeter wave radar, the interference caused by water mist and iron scales generated by cooling water evaporation like the scheme of visual identification deviation correction based on a camera in the prior art can be avoided, so that the ac