JP2002060051A - Method for detecting position of coil and method and apparatus for conveying coil - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method for detecting the position of a coil by means of only one imaging device, without being affected by a condition such as the outside diameter of the coil nor requiring an existing conveyor line to be greatly improved. SOLUTION: The method for detecting the position of a coil, which is formed by the winding of rolled band steel, detects the position of the coil at a conveying-direction changing part. An image of the end face of the coil conveyed to the changing part is picked up from sideways and diagonally above along the conveying direction, the image picked up is processed to detect the position of the coil.

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 method and a coil conveying method for preventing troubles caused by falling off from a conveyor, for example, when the conveying direction is changed by 90.degree. And an apparatus applied to those methods.

[0002]

2. Description of the Related Art Generally, a steel strip is rolled, then wound into a coil by a winder, laid down on a conveyor by an upender, and conveyed to the next step. During this transfer, for example, when the transfer direction is changed by 90 °, a transfer machine that temporarily suspends the coil, lifts the coil, and transfers the transfer to the next conveyor in order to change the transfer from the conveyor in one transfer direction to the next conveyor. It is provided in the transfer direction conversion unit.

[0003] However, if the stop position of the coil is bad, the coil may fall off from the conveyor when the coil is replaced on the next conveyor. Further, when the winding of the coil is bad and the edge of the coil is caught on the conveyor, a trouble that the coil falls off the conveyor similarly occurs.

The coil has, for example, an outer diameter of 1400 to 210
In addition to the size of 0 mm and the width of 600 to 2000 mm, there are also high-temperature ones near 1000 ° C. Also, if it falls down from the conveyor and falls down, it takes time to recover, and the mill stops. If the coil overtakes the dropped coil, it may lead to various troubles such as tracking misalignment or collision with peripheral equipment such as a marking device, and damage to the peripheral equipment.

[0005] In order to suppress the occurrence of the above-mentioned trouble, it is only necessary that the coil stop position can be accurately detected in the transfer direction conversion section so that the coil can be reliably positioned. Conventionally, a method using a photoelectric sensor has been used around the transfer line after winding the coil.

[0006]

However, in the method using a photoelectric sensor, the on-site environment is extremely high because the outer diameter size range of the coil is wide, as described above, and the coil is narrow, dusty, and hot. Is bad for
There is a problem that false detection occurs.

In order to reliably position the coil, it is conceivable to use a mechanical stopper. However, the mechanical stopper takes a long time to control the stop position of the coil. There is a problem that it is necessary to make major improvements, and the accompanying equipment and maintenance costs are high.

Therefore, for example, Japanese Patent Application Laid-Open No. 11-17382
In Japanese Patent Application Publication No. 4 (1999) -1994, a coil top is captured by a camera, the coil shape is detected after image processing, the coil bottom height of the coil shape data, and the shape obtained by projecting the coil shape data in the coil width direction. From the data, Huff
ugh) There has been proposed an apparatus which obtains a center position and a coil diameter in a coil radial direction using a transformation.

However, Japanese Patent Application Laid-Open No. 11-173824
The device proposed in No. 1 requires separate equipment for moving the camera up and down according to the coil outer diameter at the time of coil imaging, and also requires a detector for detecting the height of the lower end of the coil. Therefore, there is a problem that the cost is high.

The present invention has been made to solve the above-mentioned problem, and in order to prevent trouble caused by dropping from a coil conveyor which occurs when changing the transport direction in a transport line after winding a rolled coil, a coil is provided. It can be realized without being affected by the conditions such as the outer diameter and without requiring significant improvement to the existing transport line. It is an object of the present invention to provide a coil position detecting method and a coil conveying method capable of controlling the coil conveyance, and an apparatus applied to the method.

[0011]

In order to achieve the above object, a coil detection method according to the present invention captures an image of a coil end face conveyed to a conversion section from a diagonally upper side in the conveyance direction.
The captured image is processed to detect the coil position. By doing so, the coil position can be detected with only one image pickup device without being affected by conditions such as the coil outer diameter, so that a significant improvement over existing transport lines can be achieved. Therefore, it is possible to control the transfer of the coil to the conversion unit, and it is possible to prevent a trouble due to a drop of the coil from the conveyor that occurs when the transfer direction of the coil is changed. it can.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A coil position detecting method according to the present invention comprises:
A method for detecting the position of a coil in a transfer direction conversion unit when transferring a coil wound with a rolled steel strip, wherein an image of a coil end face transferred to the conversion unit is imaged from a diagonally upper side in the transfer direction. Then, the captured image is processed to detect the coil position.

As described above, by taking an image of the coil end face from obliquely above the side in the transport direction, the coil end face and the height can be put into the field of view at one time. By detecting the coil position
The coil is less susceptible to changes in the outer diameter, temperature, width, wall thickness, and surrounding environment of the coil, and changes in the coil type, thereby improving the coil position detection accuracy.

Further, in the coil position detecting method of the present invention, the image processing stores the image data captured at predetermined time intervals for the captured image data, and converts the immediately preceding image data from the image data captured at predetermined time intervals. The subtraction is performed so that the moving coil is left in the image data, and only the coil stands out according to the situation in the imaging field of view.

As described above, by subtracting the immediately preceding image data from the image data imaged at predetermined time intervals, for example, day and night, weather and ceiling lighting, and other slowly changing sunlight and stationary Many noises such as the background can be eliminated from the image data, and various coils can be made to stand out by performing various image processing as shown in the embodiments described below according to the situation in the imaging field of view. The coil position can be accurately detected.

Further, the coil detecting device of the present invention for carrying out the above-described coil position detecting method is provided with an image pickup means arranged on an off-line near a conversion section so as to pick up an image of a coil end face from a diagonally upper side in a conveying direction. An image processing unit that processes an image captured by the imaging unit; and a detection unit that detects a coil position from image data processed by the image processing unit.

According to the above arrangement, since the imaging means is arranged so as to image the coil end surface from obliquely above the side in the transport direction, the width (outer diameter) and height of the coil can be viewed by one imaging means. The image processing unit and the detection unit may be installed in an off-line location such as a control room, and only the imaging means is disposed at the coil transport site (and off-line). As a result, the configuration becomes simple, it can be easily installed on the existing coil transfer line, and the cost can be reduced.

Further, a coil transfer method of the present invention is a method of transferring a coil to a transfer direction changing unit when transferring a coil wound with a rolled steel strip, wherein the coil position is detected by the above-described coil position detection method. Is detected, the target position in the conversion unit, and the detected coil position is compared to determine whether the deviation amount is an allowable value, if the deviation amount is an allowable value, the transfer direction conversion is performed, If the deviation exceeds the allowable value, a warning to that effect is issued or the conversion of the transport direction is stopped.

In the coil transfer device of the present invention for implementing the above-described coil transfer method, in the above-described coil position detection device, the detection unit compares the detected coil position with the target position in the conversion unit. It is provided with a control unit for determining whether or not the deviation amount is an allowable value and for controlling the above-described coil conveying method based on the deviation amount.

According to the above, since the coil position is accurately detected, the target position of the conversion unit stored in advance as data is compared, and the target position of the conversion unit is compared with the actually detected coil position. By determining the shift amount of the coil and determining whether the shift amount is within an allowable value, if a coil position abnormality occurs, the coil conveyance can be stopped to cope with the problem.

That is, the displacement of the coil position can be easily corrected in the conversion unit, but it is difficult to use a crane or the like on the conveyor after changing the transport direction. Also, there are a number of converters in the lower process, and a slight shift of the converter in the upper process is amplified in the lower process, which causes a problem that the coil falls from the conveyor. Therefore, by controlling the conveyance of the coil by detecting the coil position with high accuracy in the conversion unit as in the present invention, it is possible to cope with various troubles before and easily.

[0022]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a coil position detecting device and method according to the present invention will be described below with reference to the drawings. FIG. 1 shows the periphery of the coil transfer line. FIG. 2 shows a schematic configuration of the coil position detecting device and the coil conveying device. FIG. 3 shows an arrangement state of the imaging means. FIG. 4 shows a coil position detection procedure. 5 to 8 show image processing states in coil position detection. 9 to 11 show a coil position detection situation in the coil position detection.

In FIG. 1, reference numeral 11 denotes a hot run table on which a rolled steel strip is conveyed; 12, a winder for winding the steel strip in a coil form; An up-ender 14 for turning over the conveyor P1 so as to be turned upside down is a binding machine for binding the coils C transported by the conveyor P1.

Reference numeral 15 denotes a transfer machine for transferring the coil from the conveyor P1 to the conveyor P2 by changing the transfer direction of the coil, for example, by 90 °. Reference numeral 16 denotes a marking device for marking the coil C transferred to the conveyor P2.
Reference numeral 17 denotes a winding meter that measures the winding width of the coil C conveyed on the conveyor P2.

Reference numeral 18 denotes a control room for controlling various facilities for transferring the coil C. The control room 18 includes a coil transfer device 1 including a coil position detecting device according to the present invention described later.
, An image processing unit 3, a detection unit 4, a control unit 5, and the like.
Reference numeral 19 denotes a control room for operating and monitoring the entire coil transfer line, and a monitor 19B for displaying a coil position detection status by the alarm 19A and the coil position detection device 1 here.
Is provided.

The coil transfer device 1 including the coil position detecting device of the present invention detects the position of the coil C in the converter of the conveyor P1 and the conveyor P2. If the position of the coil C is not abnormal, the conveyance of the coil C is maintained if the position is stopped or the alarm 19A is issued, and is configured as shown in FIG.

Reference numeral 2 denotes a position at which the end face of the coil C is imaged from obliquely above the side in the transport direction of the conveyor P1.
For example, it is a CCD camera as an imaging means arranged on a nearby off-line. By setting the CCD camera 2 as shown in FIG. 3, it is possible to widely cope with changes in the width (outer diameter) and height of the coil C.

That is, the CCD camera 2 directs the CCD camera 2 having a viewing angle of 45 ° to the transfer device 15 at an off-line position 4800 mm away from the center position of the transfer device 15 and at a height of 3200 mm. The coil C having a height of 655 to 1955 mm and an outer diameter of 1400 to 2100 mm is installed at an angle of 60 °.
Was able to enter the imaging field of view while keeping.

As described above, by arranging the CCD camera 2 so as to image the end face of the coil C from obliquely above the side in the transport direction, the width and height of the coil C can be captured by only one CCD camera 2. And it is not necessary to move the coil up and down directly above the coil, and the arrangement can be made to correspond widely to the size of the coil.

Reference numeral 3 denotes an image processing unit provided in the control room 18 described above.
For the image captured in the above, while performing various image processing described later so that the coil C stands out, the storage of the immediately preceding image data is subtracted from the image data stored every predetermined time,
Image processing is performed so that the moving coil is left in the image data so that the detection unit 4 can accurately detect the coil position.

Reference numeral 4 denotes a detection unit 4 provided in the control room 18. The detection unit 4 detects the presence or absence of the coil C from the image data processed by the image processing unit 3, and for example, in this embodiment, As will be described later, the inner or outer diameter of the coil C is measured, the center position of the coil C is detected based on the measurement result, and the center position of the conveyor P2 whose transfer direction has been changed, that is, the center position of the transfer machine 15 is determined. And outputs a result of determination as to whether or not the deviation exceeds an allowable range to the control unit 5 described later.

Reference numeral 5 denotes a control unit provided in the control room 18. The control unit 5 outputs a control signal to the image processing unit 3 and the detection unit 4, and outputs a control signal to the image processing unit 3 and the detection unit 4. In the state where the deviation amount Δ exceeds the allowable range based on the determination result from the detection unit 4, that is, when the deviation occurs (when the NG signal is output), To alert the alarm 19A in the control room 19,
This is for controlling the transfer machine 15 to stop.

Reference numeral 6 in FIG. 2 is a monitor for displaying the coil position detection status by the image processing unit 3 and the detection unit 4. The image on the monitor 6 is displayed on the monitor 19 in the control room 19.
B is similarly projected.

Next, a coil position detecting method and a coil conveying method of the present invention, which are carried out by the coil conveying device 1 including the coil position detecting device having the above-described configuration, will be described with reference to FIG.

The method of the present invention has the following general procedure.
The CCD camera 2 captures an image of the transfer device 15 as a transfer direction conversion unit, and the image processing unit 3 performs image processing on the captured image data while detecting whether or not the image data includes the coil C. To detect the end face of the coil C corresponding to the width of the coil C,
Further, the inner or outer diameter of the coil C is measured, the center position of the coil C is detected, and the deviation Δ between the detected center position of the coil C and the center position of the transfer device 15 is measured to determine whether the deviation is within the allowable range. It is determined whether or not the transfer of the coil C is maintained if it is within the allowable range, and if not, the transfer machine 15 is stopped or the alarm 19A is issued.

In FIG. 4, when coil position detection is started, first, initialization is performed in # 1. In this initial setting, a frame (hereinafter, referred to as X and Y coordinates) appearing in the image data for detecting the presence or absence of the coil C, measuring the width (inner diameter or outer diameter) of the coil C, and detecting the center position of the coil C described later. , Measurement window) to the initial state, and reset the previous detection result.

After that, the CCD camera 2 continuously captures an image of the periphery of the center position of the transfer machine 15. At this time, the image processing unit 3 constantly monitors the luminance histogram in the field of view of the image (unprocessed) captured by the CCD camera 2 as shown in FIG. The histogram range used for the coil presence / absence determination is set according to the degree (mode luminance). This allows day and night,
The presence or absence of the coil C can be accurately detected without being affected by the surrounding brightness conditions such as weather and lighting.

The imaging by the CCD camera 2 is performed every predetermined time t seconds (for example, t = 0.05 to 0.3 seconds). The image data is sequentially stored in a first memory (not shown) and a second memory (not shown), and the image data t seconds ago stored in the first memory is subtracted from the image data stored in the second memory. As a result, as shown in FIG. 7, the stopped image data of the background is deleted from the image data of FIG.
Only those that continue to move will remain. By doing so, it is possible to make it less susceptible to disturbance light or a stationary background that changes slowly (in chronological order) like sunlight coming from a gap in the ceiling.

In the image data, a coil presence / absence detection window W1 having X and Y coordinates of a predetermined width and a predetermined height is provided in the state shown in FIGS. 5 and 7 (the same applies to FIG. 9). Side (left side in the figure), the coil C subjected to image processing as shown in FIG. 7 is inserted into the coil presence detection window W1, and the histogram change in the coil presence detection window W1 as shown in FIG. When a certain level (in the figure, level 1) is exceeded a predetermined number of times (n = imaging is performed once every t seconds), this is detected. By doing so, it is possible to eliminate the influence of instantaneous disturbance light noise such as flash light at the time of gas cutting.

In the image data, the side of the coil C which is actually vertical becomes oblique as shown in FIG. 5 due to the lens aberration of the CCD camera 2. As shown in FIG. 7, the lower part of the edge of the end face of the coil C has a measurement failure. However, as described above, if the presence or absence of the coil is detected based on whether or not the histogram change exceeds a predetermined level a predetermined number of times, the presence of the coil is detected. It is possible to measure the inner diameter and the outer diameter of the coil C by calculation from the time point.

When the coil presence detection is started in # 2,
It is determined whether the measurement start signal 1 has been output from the control unit 5 to the detection unit 4 (# 3), and if it has not been output (# 3).
When NO is detected in step S4) (YES in step # 4)
S) Then, the end surface of the coil C is measured (# 5). When the coil absence is detected in # 4 (N in # 4
O), the process returns to # 2 and repeats the process until coil presence is detected.

At this time, the coil presence / absence detection window W1
The appearance coordinates of the coil C are specified for the coil C detected in the step (1).
2 and the width (height on the image) of the coil C is specified.

In the end face measurement of the coil C in # 5, the image data subjected to the image processing up to # 4 is determined by determining a black and white binarization level and subjected to a soft filter process such as an expansion and a Sobel filter described later. Coil C
Is emphasized, and the background image is erased so as to leave only the movement of the coil C in the same manner as described above.

At this time, a measurement window W2 as shown in FIG. 9 appears in the image data. The coordinates of the measurement window W2 are based on the coordinates of the coil C that appears in the coil presence / absence detection window W1. Is determined and determined with respect to the reference coordinates.

As shown in FIG. 9, the width of the coil C (in the Y direction) is determined by performing a fillet diameter measurement process on the edge image of the coil C appearing in the coil presence / absence detection window W1 in the vertical direction.
Reference coordinates Y = Y1 + (Y2-Y1) / 2 are obtained, a predetermined value t is added to the reference coordinates Y, and a predetermined value t is calculated from Y.
Is subtracted to obtain the Y (coil C width) coordinates, Yt and Y + t of the measurement window W2.

On the other hand, the X coordinate of the measurement window W2 indicates that the inner diameter of the coil C is constant, and the point and position where the measurement start signal 1 is output from the control unit 5 in # 8 of FIG. A value X set in advance based on the deviation allowable value α
L1 and XL2 determine the initial value of the measurement window W2 required for coil position measurement.

Here, the width (height on the image) of the coil C
Is measured because the CCD camera 2 is placed off-line and the end face of the coil C is imaged obliquely. This is because the width of C is affected. Therefore, in this manner, even if the width of the coil C changes in the image data, the measurement window W2 for measuring the inner diameter or outer diameter of the coil can be set with high accuracy.

In the case of # 5, if a measurement error occurs (YES in # 6), the control unit 5 outputs the fact to that effect and returns to # 1, otherwise (N in # 6).
O), it is determined whether or not the time required for measurement (for example, 11 seconds) has been exceeded (# 7). If the time is over (YES in # 7), it is output to the control unit 5 and the process returns to # 1. If not (NO in # 7), the process waits until the measurement start signal 1 arrives at the image processing unit 3 and the detection unit 4 (# 8).

The measurement start signal 1 has the following timing.
The coil C is transported to the transfer machine 15 and, for the direction change,
The time when the image is temporarily stopped is output to the image processing unit 3 and the detection unit 4. This time is the time when the coil C enters the measurement window W2 in the image data.

The measurement start signal 1 is output (YE at # 8).
S), it is determined whether a predetermined time (for example, 10 seconds) has elapsed (# 9), and when the predetermined time has elapsed (YE in # 9)
S) When the time is over, output to the control unit 5 to that effect and return to # 1, otherwise (N in # 9)
O), the inner diameter or outer diameter measurement processing of the coil C is performed (# 1)
0).

In step # 10, whether to measure the inner diameter or the outer diameter of the coil C is determined by the following processing. When the measurement start signal 1 is output, the luminance levels of the inner diameter portion and the outer diameter portion at the end face of the coil C are measured. If the inner diameter portion luminance is lower than the outer diameter portion luminance, the inner diameter is measured. Is higher than the outer diameter portion luminance, the black and white of the coil C in the image data is inverted to measure the inner diameter. If the luminance of the inner diameter portion is unclear and cannot be measured, a binarization level suitable for measurement is used. The outer diameter is measured for

Note that the above determination is based on the measurement window W
If the white part in 2 is to be measured or the black part is to be measured based on the image inversion standard, or if the coil C is a special material and the luminance level is reversed, This is performed based on a density conversion criterion such as optimizing a density range based on a histogram of luminance levels in the measurement window W2.

Thereafter, if it is determined that the inner diameter portion measurement is to be performed, the measurement window W2 is set at a high speed (for example, 100 ms) in the minimum range where the inner diameter of the coil C can be entered, and is shown in FIGS. So the moving coil C
The measurement window W2. FIG. 11 shows a state in which the measurement window W2 is set so that the inner diameter portion of the coil C enters. The X-coordinate of the measurement window W2 is X1-d, X1 + d, which is larger than the actually detected coil inner diameters (widths) X1 and X2 by a value d that allows the processing time to follow the movement of the coil C. I have.

At this time, in the area within the measurement window W2, the following filter processing is performed to suppress erroneous detection. Hereinafter, a description will be given assuming that a target pixel is E, and pixels A, B, C, D, F, G, H, and I centering on E are adjacent to each other. For example, eight pixels (A,
B. C, D, F, G, H, I) with reference to the value of the target pixel E, a new 8-neighbor process, or four pixels around the target pixel E (B, D, F, H) 4 neighborhood processing for newly obtaining the value of the target pixel E with reference to the value of

In order to partially emphasize the target pixel E, primary differential processing is performed in which the X direction of the target pixel E is E = ABS (ED) and the Y direction of the target pixel E is E = ABS (EB). Similarly, in order to partially emphasize the target pixel E, the target pixel E
In the X direction, E = ABS (A + 2D + GC-2F-
I), the Y direction of the target pixel E is E = ABS (A + 2B + C)
-Sobel processing for performing (G-2HI).

To remove noise, E = MAX
(A, B, C, D, E, F, G, H, I) expansion processing, E = MIN (A, B, C, D, E, F, G, H,
Shrinking process for performing I).

Since these filter processes are performed in the measurement window W2, they can be processed at a high speed, so that the coil C can be reliably captured in the image data in the measurement window W2. Thus, the measurement error can be suppressed, and as a result, the position of the coil C can be accurately detected.

Here, when it is determined that there is a coil inner diameter measurement abnormality in the measurement of # 11 (YES in # 11), for example, when the inner diameter of the coil C exceeds the range of 640 to 930 mm, the controller 5 The process proceeds to # 15 to output and perform error processing, otherwise (YE in # 11)
S) After waiting for the output of the measurement start signal 2 from the control unit 5 (#
Then, the coil position is detected (# 13).

The timing of the measurement start signal 2 is as follows.
The coil C is transported to the direction change position on the transfer machine 15,
At the time of stopping, it is output to the image processing unit 3 and the detection unit 4. That is, as the control of the coil conveyance, the transfer machine 1
It has been determined that the coil C is located at the center position on the position No. 5, and in order to detect the actual position of the coil C,
The following center position detection of the coil C is performed.

In # 13, in the state of FIGS. 9 and 11, the center position coordinates X and Y of the coil C are X = X1 + (X
2−X1) / 2, Y = Y1 + (Y2−Y1) / 2, and a deviation amount Δ between the center position coordinate X of the coil C and the center position coordinate K of the transfer device 15 which is provided in advance is obtained. If the deviation amount Δ exceeds the allowable value ± α, an NG signal is output to the control unit 5, and if the deviation amount is within the allowable value, an OK signal is output.

Then, in the control section 5, the detection section 4 outputs NG
The signal is received, the alarm 19A of the control room 19 is issued, and the conveyors P1, P2 and the transfer machine 15 are stopped. Then, the operator of the control room 19 monitors the monitor 19B.
Then, if there is a problem, the coil C in the direction of the conveyor P1 is manually operated on the transfer machine 15 to correct the position and restart. If there is no particular problem after checking on the monitor 19B, it may be reset and restarted. When the OK signal is received, the transport of the coil C is maintained.

As described above, according to the present invention, since the end face of the coil C is imaged from obliquely above the side in the transport direction, the width and the height of the coil C can be adjusted at once by one fixedly arranged CCD camera 2. It is possible to capture the coil C without being affected by conditions such as the outer diameter of the coil C,
In addition, since the image processing unit 3 and the detection unit 4 sequentially delete unnecessary portions and narrow down the minimum necessary portion for measurement, erroneous detection is small, and the coil C falls from the conveyor P2. Can be prevented beforehand and surely.

In the above embodiment, the position of the coil C is detected by measuring the inner or outer diameter of the coil C and then detecting the center position X of the coil C. , But
The present invention is not limited to this. For example, the outer diameter of the coil C is measured, and the coil is determined based on whether or not the measured outer diameter of the coil C falls within an allowable range from both edges of the conveyor P1 in the transfer machine 15 in the transport direction. The transport may be controlled.

Further, the end face of the coil C conveyed to the transfer machine 15 on the leading side in the carrying direction is measured together with the outer diameter of the coil C, and the end face of the coil C having the measured outer diameter on the leading side in the carrying direction is The coil conveyance may be controlled based on whether the transfer machine 15 is within an allowable range from the front end side in the conveyance direction.

[0065]

As described above, according to the coil position detecting method of the present invention, when the coil wound by the rolled strip is transported, when the coil position is detected in the transport direction converting unit, the coil is transferred to the converting unit. The coil end face to be taken is imaged from obliquely above the side in the transport direction, and the picked-up image is processed to detect the coil position, so that the coil end face and the height can be put into the field of view at once. In addition, the coil is less susceptible to changes in coil outer diameter, temperature, width, wall thickness, surrounding environment, and coil type, thereby improving coil position detection accuracy.

In the coil position detecting method according to the present invention, the image processing is performed by storing the image data at the start of the imaging for the captured image data, storing the image data captured at predetermined time intervals, and storing the image data at predetermined time intervals. The image data at the start of imaging is subtracted from the captured image data, and the moving coil is left in the image data, and only the coil stands out according to the situation in the imaging field of view. For example, many noises such as day and night, weather and light of ceiling lighting, disturbance light such as sunlight from ceiling gaps, still background, etc. can be eliminated from image data, and by using soft timer and counter logic together. It can prevent the influence of disturbance light that changes instantaneously, such as gas cutting or flashing during arc welding, which has been difficult to remove, and can accurately detect the coil position. Kill.

Further, according to the present invention, there is provided a coil detecting device for carrying out the above-described coil position detecting method. And an image processing unit that processes an image captured by the imaging unit, and a detection unit that detects a coil position from the image data processed by the image processing unit. Outer diameter) and height can be considered in the field of view, and since only the imaging means is located at the coil transfer site, the configuration is simple, and it can be easily installed on the existing coil transfer line. And cost reduction can be achieved.

Further, a coil transfer method according to the present invention is a method of transferring a coil to a transfer direction changing unit when transferring a coil wound up from a rolled strip, wherein the coil position is detected by the above-described coil position detection method. Is detected, the target position in the conversion unit, and the detected coil position is compared to determine whether the deviation amount is an allowable value, if the deviation amount is an allowable value, the transfer direction conversion is performed, If the deviation exceeds the allowable value, a warning to that effect or stop in the transfer direction,
Further, in the coil transfer device of the present invention for implementing the above-described coil transfer method, the coil position detection device described above compares the coil position detected by the detection unit with the target position in the conversion unit, and the deviation amount is determined. Since a control unit is provided for determining whether or not the value is an allowable value and for controlling the above-described coil transfer method, if the coil position is detected accurately and a coil position abnormality occurs, the coil transfer method is performed. Can be stopped and the trouble can be dealt with beforehand, so that the trouble that the coil falls from the conveyor can be prevented.

[Brief description of the drawings]

FIG. 1 is a diagram showing the vicinity of a coil transfer line employing a coil transfer device including a coil position detecting device of the present invention.

FIG. 2 is a diagram showing a configuration of a coil conveying device including the coil position detecting device of the present invention.

FIG. 3 is a diagram showing an arrangement state of imaging means in the coil position detecting device of the present invention.

FIG. 4 is a diagram showing a procedure of a coil conveying method including the coil position detecting method of the present invention.

FIG. 5 is a diagram illustrating a detection state of presence or absence of a coil in the coil position detection method of the present invention.

FIG. 6 is a diagram showing a detection state of presence / absence of a coil in the coil position detection method of the present invention.

FIG. 7 is a diagram showing a detection state of presence or absence of a coil in the coil position detection method of the present invention.

FIG. 8 is a diagram illustrating a detection state of presence or absence of a coil in the coil position detection method of the present invention.

FIG. 9 is a diagram showing the measurement of the inner or outer diameter of the coil and the detection of the center position of the coil in the coil position detecting method of the present invention.

FIG. 10 is a diagram showing the measurement of the inner or outer diameter of the coil and the detection of the center position of the coil in the coil position detecting method of the present invention.

FIG. 11 is a diagram illustrating measurement of the inner or outer diameter of the coil and detection of the center position of the coil in the coil position detecting method of the present invention.

[Explanation of symbols]

 Reference Signs List 1 Coil conveying device including coil position detecting device 2 CCD camera 2 (imaging means) 3 Image processing unit 4 Detecting unit 5 Control unit 15 Transfer device C coil P1 Conveyor P2 Conveyor

Continued on the front page F-term (reference) 2F065 AA01 AA12 AA17 AA20 AA26 AA27 AA51 BB08 BB15 CC06 DD12 FF04 FF63 JJ03 JJ08 JJ26 NN20 PP15 QQ08 QQ13 QQ24 QQ25 QQ28 QQ32 QQ33 QQ34 QQ09 3A03 BA07A03 A03

Claims (5)

[Claims] 1. A method for detecting the position of a coil in a transfer direction conversion unit when transferring a coil wound with a rolled steel strip, wherein the coil end face transferred to the conversion unit is positioned on the side in the transfer direction. A coil position detecting method, wherein the coil position is detected by capturing an image from obliquely above and processing the captured image. 2. The image processing device according to claim 1, wherein the image data is stored at predetermined time intervals for the captured image data, and the immediately preceding image data is subtracted from the image data captured at predetermined time intervals. 2. The coil position detecting method according to claim 1, wherein the coil position is left in the image data and only the coil is made to stand out according to the situation in the field of view. 3. A method of transferring a coil to a transfer direction changing unit when transferring a coil wound with a rolled steel strip, wherein the coil position is detected by the coil position detecting method according to claim 1 or 2. The target position in the conversion unit is compared with the detected coil position to determine whether or not the amount of deviation is an allowable value. If the amount of deviation is an allowable value, conversion of the transport direction is performed. A coil conveying method characterized in that when the amount exceeds an allowable value, a warning is given to that effect or the conversion of the conveying direction is stopped. 4. An apparatus used in the coil position detecting method according to claim 1 or 2, wherein the imaging means is arranged offline near the conversion unit so as to image the coil end face from obliquely above the side in the transport direction. A coil position detection device, comprising: an image processing unit that processes an image captured by the imaging unit; and a detection unit that detects a coil position from image data processed by the image processing unit. 5. An apparatus used in the coil transfer method according to claim 4, wherein in the configuration of the coil position detecting apparatus according to claim 5, the detected coil position is compared with a target position in a conversion unit. The detection unit determines whether the deviation amount is an allowable value, and if the deviation amount is an allowable value, converts the transport direction. If the deviation amount exceeds the allowable value, a warning is given or the transport direction is changed. A coil position confirmation device, comprising: a control unit for stopping conversion of a coil.