JP2001012918A - Coil position-detecting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately find coil width and a center position even when strong regular reflection light has been received. SOLUTION: A laser beam-scanning device 12 forms a plurality of slit beams and applies them to a coil, and a television camera 10 picks up the image of the coil. An image-processing device 14 performs the image processing of the image signal of the coil for generating slit light images, and deletes slit light image with an area of a given value or larger out of the slit light images since it contains noise, and outputs the others. A shape operation means 16 finds the three-dimensional shape data of the slit light application part, based on the slit light image signal from the image-processing device 14. A coil operation device 18 obtains a center position in the direction of the diameter of the coil and a coil diameter, based on the three-dimensional shape data, and at the same time obtains the center position in the direction of the width of the coil and the coil width.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a coil position detecting device applied to an unmanned operation of an overhead crane in a coil yard of a steel mill.

[0002]

2. Description of the Related Art Conventionally, as this type of coil position detecting device, for example, Japanese Patent Application Nos. 8-349207 to 8-34.
9209, Japanese Patent Application No. 8-349105 to Japanese Patent Application No. 8-3
49107 and Japanese Patent Application No. 9-003299 have been proposed. The measurement system in these applications is:
In each case, the laser spot light of the laser light source attached to the overhead crane is linearly scanned to form a plurality of slit lights and irradiate the coil, and the coil irradiated with the laser light is irradiated by a television camera. The width of the coil and the center position are obtained by taking an image and performing arithmetic processing on the video signal of the television camera.

[0003]

In the above-described coil position detecting device, the reflected light of the laser spot light applied to the coil surface is imaged by a television camera. Since the laser light applied to the coil surface spreads over a wide angle, it is possible to always receive stable reflected light regardless of the shape of the coil surface. However, when the surface property of the target coil is close to a mirror surface, the amount of light that can be received by the television camera greatly changes depending on the position where the laser spot light is applied.

For example, as shown in FIG. 13, when the coil surface 70 is mirror-shaped, when the laser light 72 emitted from the laser light source 71 impinges on the coil surface 70 and is reflected, the laser reflection at the point A occurs. Since the light is reflected in the regular reflection light direction determined by the inclination of the coil surface 70 at the point A (see the reflected light 73a in the figure), almost no light is incident on the television camera 10. In contrast, B
At the point, the inclination of the coil surface at the laser light source 71 and the point B and the television camera 10 have a positional relationship of regular reflection, and when the laser spot light is applied to the point B, the television camera 10 Intense laser light is incident (see reflected light 73b in the figure). FIG. 13 is a diagram showing a positional relationship between the laser light source 71, the coil surface 70, and the television camera 10, and 73a and 73b are reflected lights at the time of a mirror surface, and 74.
Reference numerals a and 74b denote reflected light on the diffusion surface.

As described above, when the very strong reflected light 73b enters the television camera 10, the reflected light 73b is coupled to the imaging surface due to reflection and scattering inside the optical system composed of the lens of the television camera 10 and the imaging surface. In the image, the laser spot light spreads greatly, and in some cases, the lens and the CCD
Phenomena such as a ghost image generated between the images appear.
For this reason, when the position of a coil having a surface property having a very high reflectivity is measured by the above-described measurement method, as shown in FIG. 14, a plurality of laser slit light beams irradiating the coil surface are used. When the positional relationship between the laser light source 71, the coil surface 70, and the television camera 10 is in the regular reflection light receiving state, the laser spot light is greatly spread in the place in the regular reflection light receiving state. . Alternatively, since a ghost image is generated, there is a problem that laser spot light or laser slit light cannot be accurately detected. However, because the coil shape is cylindrical,
The location of the regular reflection state is determined by the arrangement of the laser light source 71 and the television camera 10 and the inclination of the coil surface 70, and is limited to a specific portion of the coil surface 70. FIG. 14 is an explanatory diagram of a binarized image (luminance image) 75.
Reference numeral 6 denotes an image corresponding to the laser slit light (hereinafter, simply referred to as laser slit light), reference numeral 77 denotes a coil to be measured, and reference numeral 78 denotes an image when the laser light is regularly reflected and strong light is returned. .

[0006] In the case of a target material having a coil surface property close to a mirror surface, the above-mentioned phenomenon occurs, and therefore, regular reflection occurs in a conventional coil position detecting device (Japanese Patent Application No. 9-003299). When the location is near the edge in the coil width direction, as shown in FIG. 14, the spread of the slit light caused by the specular reflection reaches the outside of the coil edge, and it is as if a part where the coil does not actually exist. The slit light is detected as if the coil existed. Therefore, when the coil width and the center position are calculated by the conventional coil position detecting device, the coil width is detected to be widened by the amount detected by the laser slit light being spread. Is no longer required.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and enables the coil width and the center position to be determined with high accuracy even when the above-mentioned strong regular reflection light is received. It is an object of the present invention to provide a coil position detecting device.

[0008]

(1) A coil position detecting device according to one aspect of the present invention forms a plurality of slit lights by scanning a laser spot light linearly and irradiates the coils with the slit light. A laser beam projecting unit that outputs a projection angle of the laser beam at that time, an image capturing unit that captures an image of a coil that is irradiated with the laser beam, and an image that is captured by the image capturing unit. Image processing means for extracting and outputting an image signal corresponding to the slit light from the signal,
A shape calculating means for obtaining three-dimensional shape data of the slit light irradiating section for each of the plurality of slit lights based on an image signal corresponding to the slit light; By projecting in the width direction, the radial center position of the coil and the coil diameter are determined, and the three-dimensional shape data of the laser beam irradiating section of the coil is projected in the radial direction of the coil parallel to the reference plane, and the center position in the coil width direction is obtained. And a coil calculating means for calculating a coil width, and the image processing means sequentially generates a slit light image based on the image and the projection angle captured by the imaging means, and generates the slit light image. Among them, a slit light image having an area equal to or larger than a predetermined value is deleted, and a slit light image having an area smaller than the predetermined value is output.

(2) A coil position detecting apparatus according to another aspect of the present invention forms a plurality of slit lights by scanning a laser spot light linearly and irradiates the coils with the slit light.
A laser beam projecting unit that outputs a projection angle of the laser beam at that time, an image capturing unit that captures an image of a coil irradiated with the laser beam, and an image that is captured by the image capturing unit. Image processing means for extracting an image signal corresponding to the slit light from the image processing unit, and, based on the image signal corresponding to the slit light and the projection angle, the three-dimensional shape data of the slit light irradiating unit for each of the plurality of slit lights. The shape calculating means to be obtained and the three-dimensional shape data of the coil laser beam irradiating part are projected in the coil width direction to determine the radial center position and the coil diameter of the coil, and the three-dimensional shape data of the coil laser beam irradiating part. Is projected in the radial direction of the coil parallel to the reference plane, and a coil calculating means for calculating a center position and a coil width in the width direction of the coil is provided. The slit light is extracted for each captured image of each frame, and among the slit lights for each frame, the image signal of the slit light of the frame having the area equal to or more than the predetermined value is deleted, and the frame having the area smaller than the predetermined value is deleted. Output the image signal of the slit light.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 FIG. FIG. 1 is a configuration diagram for explaining the measurement principle of the coil position detection device according to the first embodiment of the present invention. In the figure, reference plane (floor surface) 1
An object to be measured 2 is placed thereon, and a television camera 10 is arranged on the reference plane 1 such that a central axis at the time of photographing is orthogonal to the reference plane 1, and slit light scanning is performed at a position different from the television camera 10. The device 12 is arranged. The slit light scanning device 12 generates slit light 12a and scans it. The television camera 10 captures an image of the state, and the video signal is input to the image processing device 14 together with the projection angle θ from the slit light scanning device 12, and the video signal is processed to generate a composite image. The shape calculation device 16 obtains a three-dimensional shape of the DUT 2 based on the synthesized image. The coil operation device 18 obtains the position, width, and the like of the coil, which is the device under test 2, based on the measured three-dimensional shape.
The coil operation device 18 is used in the embodiment of FIG. 5 described later.

Next, the coil position detecting device shown in FIG. 1 will be described in terms of a measuring method, an image synthesizing method, information on the position and projection angle of the laser slit light, and generation of the shape calculation principle. (A) Measurement method The optical system uses an optical system generally called a light section method. FIG. 2 is a diagram showing a configuration of the slit light scanning device 12. The slit light scanning device 12 first generates a slit light by scanning a laser spot light from the semiconductor laser 20 with a first scanning mirror 22 whose rotation is controlled by a drive motor 22a. At this time, the direction of the laser slit light is set to be in the y-axis direction in FIG. 1, and the second scanning mirror 24 whose rotation is controlled by the drive motor 24a projects the laser slit light in the x-axis direction in FIG. Control the position. At the same time, the projection angle θ of the scanning mirror 24 at this time is output to the image processing device 14 as an angle signal. Then, the irradiation pattern of the laser slit light 12 a is captured by the television camera 10, and the video signal is input to the image processing device 14.

The image processing device 14 performs image processing on a video signal of the television camera 10 to generate a combined image (slit light image) of one line of laser slit light. Then, the shape calculation device 16 calculates the three-dimensional shape of the laser beam irradiation section of the device under test 2 based on the principle of triangulation described later using the synthesized image. Next, the projection angle of the second scanning mirror 24 is rotated from θ by a small angle Δθ, and the first scanning mirror 22 projects the laser slit light in the y-axis direction again. Thus, the projection angle θ of the laser slit light
The shape of a plurality of cross sections is measured one after another while changing the values, and the overall shape of the DUT 2 is reconstructed by synthesizing the respective light cross sectional shapes. The smaller the rotation pitch Δθ of the second scanning mirror 24, the better the shape resolution of the DUT 2. However, on the other hand, the measurement time becomes longer. FIG.
The slit light scanning device 12 is provided with a shielding plate 26,
By controlling this in synchronization with the drive motor 24a, the laser slit light is not irradiated on the DUT 2 while the projection angle θ of the laser slit light is changing. Alternatively, the semiconductor laser 20 may be controlled so that no laser light is generated during that time. In any case, unnecessary light is prevented from being taken in between the light section line to be measured.

(B) Image Synthesizing Method FIG. 3 is a block diagram showing the configuration of the image processing apparatus 14.
You. The video signal from the TV camera 10 is A / D converted
Signal is converted to a digital signal by the
It is input to the calculation unit 31. This maximum brightness image calculation unit 31
Comparator 31a, selector 31b and maximum brightness image
The maximum luminance signal of each pixel is constituted by a memory 32.
In the corresponding pixel area of the maximum brightness image memory 32
Store. That is, the comparator 31a is an A / D converter
30 via the video signal a_cIs input, the maximum brightness
A signal a of a pixel of the image memory 32 corresponding to the video signal
_mAnd the video signal a_cBrightness level and maximum brightness
Signal a of the image memory 32_m To the brightness level of
a_c> A_mIn the case of, the selector signal is sent to the selector 31b.
You. When the selector 31b receives the selector signal,
The video signal a_cIs the signal a of the maximum brightness image memory 32_m
Is rewritten. Video input such processing
By performing the order for the signals, the maximum brightness image memory 32
Are the maximum luminance levels.

A video signal from the television camera 10 is converted into a digital signal by an A / D converter 36 and input to a minimum luminance image calculation unit 37. The minimum luminance image calculation unit 37 includes a comparator 37a, a selector 37b, and a maximum luminance image memory 38. The minimum luminance signal of each pixel is obtained and stored in a corresponding pixel area of the maximum luminance image memory 38. That is, the comparator 37a
Is, A / when input video signal a _c through D converter 36, reads the signal a _m of the pixels corresponding to the video signal of the minimum brightness image memory 38, a video signal a _c luminance level and minimum luminance image It compares the luminance level of the signal a _m of the memory 32, in the case of a _c <a _m sends a selector No. selector 37b. The selector 37b is by entering the selector signal, it rewrites the signal a _m of the minimum brightness image memory 37 in the video signal a _c. By performing such processing on the input video signal in order, the value of each pixel area of the minimum luminance image memory 38 becomes the minimum luminance level.

FIGS. 4A to 4D are explanatory views conceptually showing the arithmetic processing of the image processing apparatus 14. FIG. As described above, the image processing device 14 performs real-time processing on the video signal captured by the television camera 10, detects the luminance level of each pixel, performs the maximum luminance image calculation for each pixel, and performs the luminance level calculation of each pixel. Is stored in the maximum brightness image memory 32 at the timing when the laser beam reaches the highest point (that is, when the laser beam hits the corresponding point in the field of view), thereby scanning one laser beam generated. A luminance image (slit image) synthesized with respect to the laser slit light is obtained.
The extraction of the portion irradiated by the laser slit light may be performed by performing a binarization process from the maximum luminance image to extract a point (that is, a slit light portion) where the laser light is irradiated and the luminance becomes high. As described above, the minimum luminance image calculation is simultaneously performed and stored in the minimum luminance image memory 38, whereby the calculation of (maximum luminance image−minimum luminance image) is performed and stored in the luminance image memory 39. Thus, the luminance level of the background light is removed, and only the component whose luminance level is increased by the irradiation of the laser beam is extracted and binarized. By this processing, an area (light cutting line) hit by the laser slit light is extracted from the luminance memory 39. The projection angle θ of the laser slit light at this time is obtained from the slit light scanning device 12.

FIG. 4A shows an original image at each timing from time t1 to time t8. The x direction of the laser spot light from the slit light scanning device 12 is θ.
Scanning is performed in the y direction at a projection angle of 1 and subsequently scanning in the y direction at a projection angle of θ2. Then, the lapse of time t1, t2
.. Are recorded together with the movement of the laser spot light. However, when the laser spot light is in a regular reflection state on the coil surface having a high surface reflectance, as shown at time t7, it is observed that the area of the laser spot light sharply increases. FIG. 4B shows the maximum luminance image and the minimum luminance image at the light projection angle θ1 at times t1 to t4, and an image of the difference (slit light image). FIG.
(C) shows the maximum luminance image and the minimum luminance image at the light projection angle θ2 at times t5 to t8, and the difference image (slit light image). FIG. 4D shows the level of the luminance signal in the AA ′ section of FIG. 4B. As is clear from these figures, it can be seen that the luminance level of the background light has been removed and only the laser slit light has been extracted.

(C) Extraction of position and projection angle information of laser slit light As described above,
In order to extract the position of the slit light from the maximum luminance image and the minimum luminance image, the following image calculation is performed to remove the luminance level of the background light. Luminance image = Maximum luminance image−Minimum luminance image (1) The image operation of the formula (1) is used to determine the amount of luminance that has been increased by the irradiation of the laser beam, and further binarize this at a preset threshold level. Processing is performed to extract a region irradiated with the laser beam (see FIG. 4D). At this time, the area (the number of pixels) of the laser slit light is obtained. If the area is equal to or larger than a predetermined threshold (see the example of FIG. 4C), the laser light is regularly reflected on this line and noise is generated. And all the image data for one line is deleted. Next, based on the projection angle at this time, a shape calculation based on the triangulation method is performed on the area irradiated with the laser beam using the above-described binary image.

(D) Principle of Shape Calculation The shape calculation device 16 calculates the three-dimensional coordinates of the laser cut light of the multi-slit light generated by the slit light scanning device 12 to obtain the entire shape of the DUT 2. . This shape calculation is based on a triangulation method. Laser slit light 12a is projected from the slit light scanning device 12 onto the DUT 2 at a projection angle θ, and the state is imaged by the television camera 10. The height z (x ′, y ′) of the point (x ′, y ′) at which the laser beam extracted from the image captured by the television camera 10 hits is given by the following equation in consideration of the perspective effect of the television camera 10. The relationship holds. z (x ′, y ′) = Z ₀ − {X ₀ − (1−z (x ′, y ′) / a) x} tan θ (x ′, y ′) (2) x ′: TV camera in position y on the reference plane of the captured image ': position on the reference plane of the image captured by the television camera X _0: x-coordinate Z ₀ of the laser beam scanning rotation axis: z of the laser beam scanning rotation axis Coordinate a: distance between the television camera and the reference plane θ: laser slit light projection angle If the above equation (2) is modified, the height z (x ′, y ′) of the point where the laser slit light hits can be expressed by the following equation. Is determined by

[0019]

(Equation 1)

The coordinates (x, y) on the three-dimensional coordinates of the point (x, y) where the laser light is extracted on the image are given by the following equations. x = ｛1−z (x ′, y ′) / a｝ x ′ (4) y = ｛1−z (x ′, y ′) / a｝ y ′ (5) It is clear from the above description. As described above, the coordinates x ', y' on the image of the television camera 10 at the projection angle .theta.
It can be seen that the three-dimensional coordinates x, y, z of the detected point are obtained by the above equations (3), (4), (5). The above equations (4) and (5) have been corrected for the perspective effect that the closer to the TV camera 10 the larger the closer to the TV camera 10 because the distance between the DUT 2 and the TV camera 10 is finite. It can be seen that accurate shape detection cannot be performed only with a two-dimensional image.

Now that the principle of shape measurement according to the present invention has been clarified by the above description, an example in which the measuring device shown in FIG. 1 is applied to a yard coil detecting device will be described. FIGS. 5A, 5B, and 5C are a plan view, a front view, and a view of the television camera 10 when the optical system (the television camera 10 and the slit light scanning device 12) of FIG. FIG. As shown in FIG. 1A, the television camera 10 rotates the trolley 30 in a direction in which the trolley 30 is rotated by 45 ° with respect to the transverse direction.
In addition, they are arranged so that their optical axes are vertically downward. The slit light scanning device 12 is installed on the x-axis of the television camera 10, and adjusts the direction of the slit light so as to be parallel to the y-axis direction of the television camera 10. The coil 3 to be measured is placed parallel to the traversing direction or running direction of the crane, and therefore, the attitude of the coil 3 captured by the television camera 10 is inclined (rotated) by 45 ° in the field of view. . In the yard, the coil 3 is arranged in either the traverse direction or the traveling direction of the crane, and the arrangement direction is grasped by a system computer managing the yard.

In this state, the slit light scanning device 12 irradiates the upper surface of the coil 3 while scanning the laser slit light,
The television camera 10 obtains a slit light image obliquely at 45 degrees with respect to the coil 3, the image processing device 14 generates a composite image by the above-described method, and the shape calculation device 16 generates a laser beam based on the composite image. The height of the hit point is calculated based on the above calculation formula. By sequentially performing this operation for a plurality of lines, it is possible to obtain a plurality of cross-sectional shapes of an object in a measurement visual field such as a coil / cart and a floor surface.

Next, the coil operation device 18 uses the shape data to identify the coil and the peripheral portion (floor surface and truck) from the difference in height because the coil is higher than the floor surface and the truck. To extract only the shape of the coil. Furthermore, in order to detect the position of the coil from the plurality of cross-sectional shapes of the extracted coil, the cross-sectional shape in the radial direction and the width direction of the coil is obtained.

FIG. 6 is an explanatory diagram for obtaining the cross-sectional shapes of the coil in the radial and width directions. Here, the shape data is projected in a direction in which the shape data of the coil 3 is rotated by an installation angle (45 °) of the television camera 10 as a detection head, that is, in a traversing direction and a traveling direction of the trolley 30. As a projection method, an average value of shape data in the coil width direction is obtained in the coil width direction. In the illustrated example, for example, an average value of the slit lights 41, 42, 43 at, for example, the illustrated points is obtained, and the average value is set as a value of a point in the projected shape in the coil width direction.
By calculating the average value of the other points of 4, 44 as well, the projected shape (shape data) 45 in the coil width direction is obtained. Further, by taking the maximum value of the shape data in the coil radial direction in the coil radial direction, accurate shape data can be obtained. In the illustrated example, the slit lights 41, 42, 43, 44
41a, 42a, 4 obtained by projecting in the coil radial direction
By taking the maximum value of 3a and 44a, the projected shape (shape data) 46 in the coil radial direction is obtained.

Although the above description is of an example in which the arrangement direction of the coil 3 is known in advance, the same processing can be performed in a case where the direction is not known in advance. In such a case, the direction is temporarily determined, and then the projected shape (shape data) in the coil width direction and the radial direction is obtained, and the arrangement direction can be determined from the shape data. If the direction is incorrect, the projection shape (shape data) in the coil radial direction is obtained for the determined arrangement direction.

Next, a method for obtaining the coil width direction position, coil width, coil radial direction center position, and coil diameter from the shape data projected in the coil width direction and the radial direction will be described. Regarding the coil width direction, as shown in FIG. 7, by detecting points at both left and right ends exceeding the height data set separately from the projected shape data in the width direction, the points are shifted to the right and left of the coil. Recognize as an edge. Therefore, the center position and the width in the coil width direction can be obtained by the following equations. Coil center position = (right edge + left edge) / 2 (6) Coil width = | right edge−left edge | (7)

As shown in FIG. 8, when the above processing is performed, if there is data of slit light spread by strong specular reflection light, the coil width is determined to be wide and the position of the coil is not correctly measured. In such a case, as described above, the data of the corresponding slit light is deleted, and the measurement processing is performed in a state as shown in FIG. However, in order to remove specular reflection light noise, as shown in FIG. 9, it is necessary that at least one slit light data is applied to the coil edge in the width direction after the noise removal. For this reason, it is necessary to determine the number of slit light beams (light projection angle intervals) such that two or more slits cover the width direction coil edge even with the smallest coil diameter of the measurement target.

In the coil radial direction, since the projected coil shape becomes a semicircle, the center position and the diameter of the coil can be obtained by substituting the shape data into the equation of the circle. (X−c _x ) ² + (z−c _z ) ² = r ² (8) x, y: semicircular shape data of the coil obtained by projection c _x , c _z : center position in the coil radial direction r: coil radius

Specifically, if there are data at three or more points in the radial direction of the coil, the above equation (8) can be solved. However, the measurement data in the radial direction of the coil can be used effectively to improve the reliability of the measurement. In order to improve the accuracy and accuracy of the measurement data in the coil radial direction, a plurality of combinations of three points are set, noise is removed from a plurality of center positions obtained by each calculation, and then statistical processing is performed. A highly reliable coil center position can be obtained.

As a method of obtaining the true center position from a number of coil center positions, a method of obtaining an average value of many points, or a method of dividing a distribution of many points into a mesh and obtaining a position at which the maximum value of the distribution is obtained. There is a method for obtaining the same (the same applies to the second embodiment described later).

Embodiment 2 FIG. FIG. 10 shows Embodiment 2 of the present invention.
FIG. 6 is a configuration diagram for explaining the measurement principle of the coil position detection device according to the first embodiment (this measurement device is also applied to the yard coil detection device in FIG. 5 as in the first embodiment). In the figure, a device under test 2 is placed on a reference plane 1, and a television camera 10 is arranged on the reference plane 1 so that the central axis at the time of photographing is orthogonal.
The slit light scanning device 12 is arranged at a position different from the above. The slit light scanning device 12 generates slit light 12a and scans it. The television camera 10 captures an image of the state, and the captured signal is subjected to image processing for each frame by the image processing device 140, so that noise generated by the regular reflection of the laser spot light on the coil surface is removed. The image signal from which the noise has been removed is input to the shape calculation device 16 together with the projection angle θ from the slit light scanning device 12, and the shape calculation device 16 measures the three-dimensional shape of the DUT 2. The coil operation device 18 obtains the position, width, and the like of the coil, which is the device under test 2, based on the measured three-dimensional shape.

Next, a measuring method of the coil position detecting device shown in FIG. 10 will be described. The principle of the shape calculation, the direction of the slit light, the formation of the multi-slit, and the generation of the slit light are the same as those described in the first embodiment, and thus the description thereof is omitted.

The optical system is the same as in the first embodiment.
As shown in FIG. 2, the slit light scanning device 12 processes the laser spot light from the semiconductor laser 20 to generate slit light, and the projection angle θ of the scanning mirror 24 at this time is used as an angle signal. Output to the shape calculation device 16. Then, the irradiation pattern of the laser slit light 12 a is captured by the television camera 10 and input to the image processing device 140. The image processing device 140 performs image processing on the imaging signal of the television camera 14 for each frame (removing noise generated when the laser spot light is regularly reflected on the coil surface), and corresponds to the laser slit light from the image signal. The extracted image signal is extracted. The shape calculating device 16 calculates three-dimensional coordinates of the laser slit light from the position of the laser slit light of the extracted image signal and the laser projection angle θ at that time based on the principle of triangulation described later. .

FIG. 11 is an explanatory diagram conceptually showing the arithmetic processing of the image processing apparatus 140. Slit light scanning device 12
Is a projection angle of θ1 in the x direction and y
Scan in the direction. The image of the laser spot light obtained for each imaging cycle (frame) of the TV camera 10 moves as time elapses (t1, t2...). However, when the laser spot light is in a regular reflection state on the coil surface having a high surface reflectance, as shown at time t7, it is observed that the area of the laser spot light rapidly increases. Therefore, the image processing device 140 extracts, from the image at each time, a region having a luminance equal to or higher than a certain threshold level as laser slit light obtained by scanning with the laser spot light,
Further, the area of the laser slit light (the number of extracted pixels) is obtained for each image of each frame. If the area of the laser slit light is equal to or larger than a preset area, it is determined that specular reflection has occurred, and the image data obtained in the imaging cycle (frame) is deleted. For this reason, as shown in FIG. 12, the image data for performing the shape calculation is the image data (part of one line) of the laser slit light corresponding to the frame exceeding the threshold value in one laser slit light. )
Will be removed.

The image data after the above-described processing is processed in the same manner as in the above-described first embodiment, and the correct center position in the radial direction of the coil, the coil diameter, the center position in the width direction of the coil, and the coil width are accurately determined. It is possible to ask.

[0036]

As described above, according to the present invention, in measuring the shape and position of the coil, even if there is strong specular reflection light from the coil to be measured, which is noise, there is strong specular reflection light. Detection and removal of strong specular light data (one line of laser slit light or a part of it) that becomes noise eliminates restrictions on the surface properties of the coil to be measured, and provides accurate coil diameters. The center position in the direction, the coil diameter, the center position in the width direction of the coil, and the coil width can be obtained.

[Brief description of the drawings]

FIG. 1 is a configuration diagram for explaining a measurement principle of a coil position detection device according to a first embodiment of the present invention.

FIG. 2 is a diagram illustrating a configuration of a slit light scanning device in FIG. 1;

FIG. 3 is a block diagram illustrating a configuration of the image processing apparatus in FIG. 1;

FIG. 4 is an explanatory diagram conceptually showing calculation processing of the image processing apparatus of FIG. 1;

5A and 5B are explanatory diagrams of a case where the shape measuring device of FIG. 1 is applied to a coil position detecting device, wherein FIG. 5A is a plan view and FIG.
Is a front view, and (C) is a diagram showing an image in the field of view of the television camera.

FIG. 6 is an explanatory diagram for determining a cross-sectional shape in a radial direction and a width direction of a coil.

FIG. 7 is an explanatory diagram for obtaining a coil width and the like from shape data in the width direction projected in the coil width direction.

FIG. 8 is an explanatory diagram in a case where a cross-sectional shape in a radial direction and a width direction of a coil is obtained in a state where regular reflection noise is included.

FIG. 9 is an explanatory diagram for obtaining a cross-sectional shape in a radial direction and a width direction of a coil after removing regular reflection noise.

FIG. 10 is a configuration diagram for explaining a measurement principle of the coil position detection device according to the second embodiment of the present invention.

FIG. 11 is an explanatory diagram conceptually showing the calculation processing of the image processing apparatus of FIG. 10;

FIG. 12 is an explanatory diagram for obtaining a cross-sectional shape in a radial direction and a width direction of a coil after removing regular reflection noise.

FIG. 13 is a diagram showing a positional relationship between a laser light source, a coil surface, and a television camera.

FIG. 14 is an explanatory diagram of a binarized image (luminance image) when there is strong regular reflection light.

 ────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Mitsuaki Uesugi 1-2-1, Marunouchi, Chiyoda-ku, Tokyo F-term (reference) 2F065 AA04 AA17 AA22 AA26 AA53 BB05 CC06 FF01 FF02 FF04 FF09 FF65 GG06 HH04 HH05 HH12 JJ03 JJ09 JJ26 LL13 LL62 MM16 PP01 QQ03 QQ24 QQ25 QQ31 QQ42

Claims (3)

[Claims] 1. A laser beam projecting means for linearly scanning a laser spot beam to form a plurality of slit beams and irradiating a coil with the beam, and outputting a projection angle of the laser beam at that time. Imaging means for imaging the coil irradiated with the laser light, image processing of the image taken by the imaging means,
Image processing means for extracting an image signal corresponding to the slit light from the image signal and outputting the image signal; and, based on the image signal corresponding to the slit light, converting the three-dimensional shape data of the slit light irradiation unit into a plurality of slit lights. And a three-dimensional shape data of the coil laser beam irradiating unit is projected in the width direction of the coil to obtain a radial center position and a coil diameter of the coil, and a coil laser beam irradiating unit of the coil is obtained. 3
The coil processing means for projecting the dimensional shape data in the radial direction of the coil parallel to the reference plane, and calculating the center position and the coil width in the width direction of the coil, the image processing means includes an image captured by the imaging means, A slit light image is sequentially generated based on the projection angle, a slit light image having an area equal to or larger than a predetermined value is deleted from the slit light image, and a slit light image having an area smaller than a predetermined value is output. Coil position detecting device. 2. The image processing unit sequentially captures and stores signals of respective pixels in a screen of an image captured by the imaging unit, and stores the luminance level of a signal input later for the same pixel. The luminance level of the signal being compared is compared, and when the luminance level of the signal input later is higher, the storage content of the pixel is updated with the luminance level, and the maximum luminance level for each pixel is obtained. A luminance image calculation unit, and sequentially captures and stores signals of respective pixels in a screen of an image captured by the imaging unit, and obtains a luminance level of a signal input later and a luminance of a signal already stored for the same pixel. Level, and when the luminance level of a signal input later is lower, the storage content of the pixel is updated with the luminance level, and the minimum value for each pixel is updated. 2. A coil position according to claim 1, further comprising a minimum luminance image calculation unit for calculating a degree level, wherein a slit light image is generated by obtaining a difference between a maximum luminance level and a minimum luminance level for each pixel. Detection device. 3. A laser beam projecting means for linearly scanning a laser spot beam to form a plurality of slit beams to irradiate a coil and outputting a projection angle of the laser beam at that time; Imaging means for imaging the coil irradiated with the laser light, image processing of the image taken by the imaging means,
Image processing means for extracting an image signal corresponding to the slit light from the image signal; and, based on the image signal corresponding to the slit light and the projection angle, three-dimensional shape data of the slit light irradiating unit,
Shape calculating means for obtaining each of the plurality of slit lights; and projecting three-dimensional shape data of the laser light irradiating portion of the coil in a width direction of the coil to obtain a radial center position and a coil diameter of the coil, and 3 of laser beam irradiation part
The coil processing means for projecting the dimensional shape data in the radial direction of the coil parallel to the reference plane, and calculating the center position and the coil width in the width direction of the coil, wherein the image processing means is provided for each image of each captured frame. Extracting the slit light, removing the image signal of the slit light of the frame having the area equal to or more than the predetermined value from the slit light of each frame, and outputting the image signal of the slit light of the frame having the area less than the predetermined value. A coil position detection device characterized by the above-mentioned.