JP2002202110A - Device and method for measuring carrying state - Google Patents

Abstract

PROBLEM TO BE SOLVED: To highly accurately find the size of an object to be carried during carrying and find an overhang length for the pallet of the object to be carried. SOLUTION: A device for measuring a carrying state is provided with a laser radar for detecting the carrying state of the object to be carried by scanning and irradiating laser light in a measuring face orthogonal to the carrying direction for the object to be carried during carrying, and a calculation processing part for calculating the shape of the object to be carried on the basis of the measured data of the laser radar.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] 1. Field of the Invention [0002] The present invention relates to an apparatus and method for measuring a transfer state of an object to be transferred.

[0002]

2. Description of the Related Art For example, Japanese Unexamined Patent Publication No. 6-50721 discloses that a number of transmission type optical sensors are arranged in a line in a direction perpendicular to the transport direction of a cargo (object to be transported), with the optical axis up and down. A technique is disclosed in which a width in a direction perpendicular to the transport direction and a tilt of the cargo are obtained from the two, and the actual width of the cargo is calculated from the two. This publication also discloses a technique for determining the length of a cargo by providing a transmission type optical sensor having an optical axis orthogonal to the transport direction and the optical axis.

[0003]

However, the above prior art has the following problems. (1) The number of optical sensors required in proportion to the width of the transport path, that is, the size of the cargo is required. (2) In order to improve the measurement accuracy, it is necessary to increase the installation density of the optical sensors. (3) When trying to determine the length or height of the cargo, it is necessary to add a new optical sensor in addition to the optical sensor for determining the width of the cargo. (4) For air cargo, for example, it is necessary to determine the overhang length (dimension of the cargo protruding from the pallet), but this overhang length cannot be determined by the conventional technology. (5) If there is an overhang on the side of the cargo, the inclination of the cargo cannot be corrected accurately.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems, and determines the size of an object to be conveyed with high accuracy without using a large number of optical sensors and also determines the overhang length of the object to be conveyed with respect to a pallet. The purpose is to seek.

[0005]

In order to achieve the above object, according to the present invention, as a first means relating to a conveyance state measuring device, a measurement plane perpendicular to a conveyance direction with respect to a conveyance object being conveyed is provided. And means for calculating the shape of the object to be transported based on the measurement data of the laser radar.

As a second means relating to the transport state measuring device, the first means further comprises a transport distance measuring section for measuring the transport distance of the object to be transported and outputting it as a transport distance signal to an arithmetic processing section. The processing unit employs means for calculating the three-dimensional shape of the object to be conveyed by taking into account the conveyance distance signal.

[0007] As a third means relating to the transport state measuring device, in the first or second means, a pallet on which an object to be transported is detected is detected, and a pallet detection is output as a pallet detection signal to an arithmetic processing unit. Part further,
The arithmetic processing unit employs means for calculating the overhang length of the object to be conveyed with respect to the pallet by also taking into account the pallet detection signal.

[0008] As a fourth means relating to the transport state measuring device, in the above-mentioned second or third means, the laser radar is disposed obliquely above and to the left of the object to be transported, and is positioned within a measurement plane orthogonal to the transport direction. A left laser radar that scans a laser beam to detect a conveyance state on the left side of the object to be conveyed, and a right side of the object to be conveyed by scanning the laser light within a measurement plane orthogonal to the conveyance direction, which is disposed diagonally above the right side. The right-hand laser radar for detecting the transfer state of the object, the arithmetic processing unit, based on the measurement data of the left laser radar and the right laser radar, the left end, right end, upper end, front end and rear end of the object to be transferred Means of calculating the three-dimensional shape of the object to be conveyed by specifying each part is adopted.

As a fifth means relating to the transport state measuring device, in any one of the first to fourth means, the arithmetic processing unit determines an inclination angle θ with respect to the transport direction of the transport object based on the measurement data; Means for calculating the shape of the object to be conveyed by correcting the measurement data using the inclination angle θ is adopted.

As a first means relating to the method of measuring the transfer state, means for detecting the transfer state of the transfer object during transfer using a laser radar is employed.

As the second means relating to the method of measuring the transfer state, the above-mentioned first means adopts means for measuring the three-dimensional shape of the transfer object by also measuring the transfer distance of the transfer object.

As a third means related to the method of measuring the state of conveyance, the overhang length of the object to be conveyed with respect to the pallet is detected by detecting the pallet on which the object to be conveyed is placed in the first or second means. Is also calculated.

As a fourth means relating to the method of measuring the transport state, in the above-mentioned second or third means, a laser radar is disposed diagonally above left and diagonally above right of the object to be conveyed. Means is employed in which the three-dimensional shape of the transport target is calculated by specifying the left end, right end, upper end, front end, and rear end of the transport target based on the measurement data.

According to a fifth aspect of the present invention, in any one of the first to fourth means, the inclination angle θ with respect to the transport direction of the object to be transported is determined based on the measurement data.
And calculating the shape of the object to be conveyed by correcting the measurement data using the inclination angle θ.

[0015]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view showing a transfer state measuring apparatus and method according to an embodiment of the present invention;

FIG. 1 is a system configuration diagram of the transport state measuring device in the present embodiment. In FIG.
Is cargo (object to be transported), 1 is pallet, 2 is conveyor,
3 is a transport distance measuring unit, 4 is a pallet detecting unit, 5A, 5B
Denotes a laser radar, and 6 denotes an arithmetic processing unit. The cargo W has a rectangular horizontal cross-sectional shape, and is placed on the pallet 1. The pallet 1 is a well-known transport auxiliary member, and is formed in a rectangular flat plate shape. Conveyor 2
Transports the cargo W placed on the pallet 1 in a predetermined horizontal direction, and is, for example, a rotary conveyor at predetermined intervals.

The transport distance measuring unit 3 measures the transport distance of the cargo W from a certain reference point, that is, the moving distance of the pallet 1, and outputs the result to the arithmetic processing unit 6 as a transport distance signal. The transport distance measuring unit 3 is, for example, a rotary encoder that detects rotation of a drive motor or the like of the conveyor 2.

The pallet detecting section 4 is provided below the conveyor 2 as shown in the drawing, detects passage of the pallet 1 moving on the conveyor 2, and outputs the detected signal to the arithmetic processing section 6 as a pallet detection signal. This pallet detector 4
Is a reflection-type optical sensor whose optical axis is set vertically, for example. The above-mentioned reference time point refers to the time when the pallet detecting section 4 detects the leading end of the pallet 1 or when the laser radar 5
A, 5B is any time when the leading end of the cargo is detected.

The laser radars 5A and 5B irradiate a laser beam onto the conveyor 2 in a scanning (scanning) manner, detect the reflected light, and detect the reflected light.
Is detected and output to the processing unit 6 as measurement data. As shown in FIGS. 1 and 2, the laser radars 5A and 5B are fixedly arranged on the left and right of the conveyor 2.

As shown in the front view of FIG. 2 (a), one laser radar 5A (left laser radar) has the upper left side of the conveyor 2, that is, The laser radar 5B (right laser radar) is disposed above a horizontal position slightly displaced further leftward from the left end of the conveyor 2, and is displaced slightly rightward from the right end of the conveyor 2, that is, the right end of the conveyor 2. Above the horizontal position.

As shown in the side view of FIG.
The optical axes of these laser radars 5A and 5B are set in a plane (scanning plane) orthogonal to the transport direction, that is, the direction in which the conveyor 2 extends, and as shown in the front view, on the conveyor 2 in the scanning plane. The scanning is performed in a range (for example, a scanning angle of 90 ° from the vertical direction to the horizontal direction) in which the entire pallet 1 and the whole cargo W can be sufficiently detected. Each of the laser radars 5A and 5A in the transport direction
The position of B is set exactly the same, so that the scanning surface of the left laser radar 5A and the scanning surface of the right laser radar 5B are the same surface. In the following description, the scanning surface is referred to as a “measurement surface”.

By arranging the laser radars 5A and 5B with respect to the conveyor 2 in this manner, the upper surface and the side surface (left side surface and right side surface) of the cargo W conveyed on the conveyor 2
Is detected. As shown in the side view, the position of the pallet detecting unit 4 in the transport direction is set to the same position as the positions of the laser radars 5A and 5B, but is not necessarily limited to this positional relationship.

The arithmetic processing section 6 is based on the transport distance signal input from the transport distance measuring section 3, the pallet detection signal input from the pallet detecting section 4, and the measurement data input from the laser radars 5A and 5B. By performing a predetermined calculation process, the transport state of the cargo W, that is, the shape and the attitude are calculated.

Next, the details of the arithmetic processing in the arithmetic processing unit 6 will be described with reference to the flowchart shown in FIG.

Since the pallets 1 on which the cargo W is placed are sequentially placed on the conveyor 2 at intervals, the pallets 1
And the cargo W intermittently sequentially pass through the measurement surface. When the transport state measuring device starts operating, the laser radar 5
Since A, 5B and the pallet detecting section 4 start detecting the pallet 1 and the cargo W sequentially and sequentially, the arithmetic processing section 6 receives the measurement data and the pallet detecting signal as the operation starts. Then, when recognizing the presence of the cargo W or the pallet 1 based on either the measurement data or the pallet detection signal, the arithmetic processing unit 6 starts distance measurement based on the transport distance signal using this time as the reference time, and Execute the process.

First, the arithmetic processing section 6 performs a process of acquiring a pallet position based on a pallet detection signal and a transport distance signal (step S1). That is, the arithmetic processing unit 6 determines whether or not the leading end or the trailing end of the pallet 1 has been detected by the pallet detecting unit 4 based on the pallet detecting signal. To obtain the position of the front end or the rear end based on
If this determination is "No", the pallet position acquisition processing ends. The process of obtaining such a pallet location, as the distal end portion position the pallet top point P _PS of the pallet 1, and the rear end position is respectively obtained as pallet tail point P _PK.

Here, for example, when there is an overhang at the leading end of the cargo W, the laser radars 5A and 5B detect the leading end of the cargo W at a certain time t0 as shown in FIG. As a point in time, measurement of the transport distance based on the transport distance signal is started. In this figure, the reference position in the transport direction corresponding to the time t0 is x0. The timing at which the pallet detecting section 4 detects the leading end of the pallet 1 with respect to the time t0 is as follows.
It is time t1 (position x1) after a lapse of a certain time from the time t0 according to the conveying speed, and the timing at which the trailing end of the pallet 1 is detected is time t3 (position x1) which is further delayed from time t1 (position x1). x3).

The pallet position acquisition process (step S
In 1), detects such a position x1 as the pallet top point P _PS, also are detected the position x3 as pallet tail point P _PK. If there is an overhang at the rear end of the cargo W, the laser radars 5A and 5B
Is detected at time t4, which is further delayed from time t3. Laser radar 5A, 5B
Continues the detection of the cargo W and the pallet 1 within the scanning range from time t0 to time t4.

Subsequently, the arithmetic processing section 6 executes a process of obtaining a representative point of the left cross section based on the measurement data of the left left laser radar 5A obtained by one scan (step S2). FIG. 5 is a flowchart showing the details of the process of acquiring the left-side sectional representative point. Hereinafter, the process of acquiring the left-side sectional representative point will be described in detail with reference to this flowchart.

That is, when acquiring the measurement data for one scan from the left laser radar 5A (step S2a), the arithmetic processing unit 6 acquires the position x0 in the transport direction corresponding to the measurement data (step S2b). Then, noise is removed from the measurement data for one scan (step S2c). In this noise removal processing, for example, data indicating a pointed portion in the measurement data is deleted as being caused by suspended matter in the air.

Subsequently, the arithmetic processing unit 6 stores the data in the measurement data.
For cargo W, pallet 1 and conveyor 2 only
And remove other materials related to the floor and walls.
To obtain left-side sectional data (step S
2d). Then, as shown in FIG.
The point at the highest position in the data is the highest point P _LT
(Representative section point) (step S2e)
A point is the leftmost point P _LL(Representative point of section) and (step
S2f) Further, from among the measurement data indicating pallet 1,
The point on the left is the left end point P of the sectional pallet._LP(Cross section representative
(Step S2g).

Further, the arithmetic processing unit 6 executes a process of acquiring a right-side cross-section representative point based on the measurement data of the right laser radar 5B obtained by one scan (step S).
3). The process of acquiring the right-side cross section representative point is described in FIG.
This will be described along the flowchart shown in FIG.

That is, when acquiring the measurement data for one scan from the right laser radar 5B (step S3a), the arithmetic processing unit 6 acquires the position x0 in the transport direction corresponding to the measurement data (step S3b). Then, similarly to the measurement data of the left laser radar 5A described above, noise is removed from the measurement data of the right laser radar 5B (step S3c), and the data relating only to the cargo W, the pallet 1 and the conveyor 2 are extracted from the measurement data. The extracted data is used as right-side cross-sectional data (step S3d).

Then, as shown in FIG. 6B, the point located at the highest position in the right-side section data is set as the section highest point P _RT (representative section point) (step S3e), and is located on the rightmost side. The point is set as the rightmost point P _RR (cross section representative point) of the cross section (step S3f), and the rightmost point among the measurement data indicating the pallet 1 is set as the right end point P _RP (cross section representative point) of the cross section pallet (step S3f). S3g).

When the process of obtaining the representative point of the left cross-section (step S2) and the process of obtaining the representative point of the right cross-section (step S3) are completed in this way, the arithmetic processing unit 6 determines whether the cargo W has passed through the measurement surface. It is determined whether or not this process is “No”. If this process is “No”, the processes in steps S1 to S3 are repeated to detect the cargo W while the laser radars 5A and 5B are detecting the cargo W, that is, the above time. The process of detecting the position of the pallet 1 in the transport direction and the process of detecting each representative point are performed on the measurement data relating to all scans acquired between t0 and t4.

By the above processing of steps S1 to S4,
The acquisition of the various representative points on the left and right sides over the entire length of the cargo W in the transport direction ends. In the following processing, inclination correction of the cargo W, search for a representative point of the cargo W, and calculation of the dimensions of the cargo W are performed based on these representative points.

First, the arithmetic processing unit 6 executes a tilt correction process of the cargo W as step S5. As shown in FIG. 8, the cargo W (that is, the pallet 1) is not always placed on the conveyor 2 in a posture along the transport direction, and in such a case, the posture of the cargo W is changed in the transport direction. It needs to be modified to fit. As shown in the figure, the projected shape of the pallet 1 as viewed from above and below is generally rectangular as shown, and when the cargo W having a width a and a length b is inclined with respect to the transport direction, the laser radar 5A, 5B, the detection width a ′ of the cargo W is the actual width a.
And the detected length b 'of the cargo W is longer than the actual length b.

The arithmetic processing unit 6 performs an inclination with respect to the transport direction of the pallet 1 on the basis of the cross-sectional pallet left end point P _LP in each scan already obtained in step S2 and the cross-sectional pallet right end point P _RP in each scan obtained in step S3. The angle θ is calculated, and the inclination of the cargo W is corrected based on the inclination angle θ.

That is, the sectional palette in each scan
G left end point P_LP(Or right end point P_RP)
When the connection is continued, the line becomes a substantially straight line.
The least squares method is applied to the left end point P of each section pallet._LPTo apply to
Set an approximation straight line, and move the approximation straight line
Is calculated. Then, the inclination angle θ is changed.
Equations (1) and (2) below are used as representative points and palettes.
Set start point P_PSAnd pallet tail point P_PKApply to
, The respective representative points and the pallet top point P _PSAnd pa
Let's tail point P_PKIs calculated (X, Y).

[0040] X = xcosθ + ysinθ (1) Y = -xsinθ + ycosθ (2) wherein, x represents a position in the transport direction before the correction of the representative points and the pallet top point P _PS and pallet trailing point P _PK, y is the representative points And pallet start point P _PS and pallet tail point P _PK
X is the position in the direction perpendicular to the transport direction before correction, X is the position in the transport direction after correction of each representative point and pallet start point P _PS and pallet tail point P _PK , and Y is each representative point and pallet start point P _PS. and the direction of a position perpendicular to the conveying direction after the correction of the pallet tail point P _PK.

FIG. 9 shows, as an example, the leftmost point P in the section._LLAnd section
Rightmost point P_RRAnd pallet start point P _PSAnd pallet tail
Point P_PKFIG. 6 is a diagram showing a correction state of FIG. As shown in (a)
The left end point P of the cross section pallet_LP(Or section palette
G right end point P_RP), Each scan of cargo W
Leftmost point P in the section_LLOf straight line and cargo W
Surface rightmost point P_RRIs also at an angle θ to the transport direction
It is inclined. This inclination is calculated by the above equations (1) and (2).
To the leftmost point P in the cross section in the scan.
_LLStraight line consisting of_RRIs a straight line
As shown in (b), it is corrected parallel to the transport direction.
You.

Such a tilt correction process (step S5)
Is completed, the arithmetic processing unit 6 sets the respective tilt-corrected
Cross section representative point and pallet top point P_PSAnd pallet tail
Point P _PKRepresentative point that regulates the shape of the cargo W based on the
Is performed (step S6). Therefore,
Each section representative point and pallet top point in the following description
P_PSAnd pallet tail point P_PKIs after all tilt correction
belongs to. The search process for this cargo representative point
This will be described in detail with reference to the flowchart shown in FIG.

The arithmetic processing unit 6 first searches for the highest point among all the cross-sectional highest points P _{LT and} P _RT , thereby finding the highest point P indicating the upper end of the cargo W.
_KT (freight representative point) (step S6a). Then, the leftmost point _PLL indicating the left end of the cargo W is searched by searching for the leftmost point among all the leftmost points _{PLL in} the cross section.
And _KL (cargo representative point) (step S6b), the most by searching for those on the right cargo rightmost point P _KR (cargo showing the right end portion of the cargo W further in all cross sections rightmost point P _RR (Representative point) (step S6c).

Then, the pallet top point P _PS already obtained in step S1 and all the cross-section leftmost points P _{LL are obtained.}
By searching for the foremost point among the rightmost points P _RR of all the cross sections, the cargo leading point P _KS indicating the leading end of the cargo W
(Representative point of cargo) (Step S6d) and Step S6
Pallet tail point P _PK obtained in 1 and the leftmost point P of all sections
By searching for a point which is rearmost in the _LL and all cross rightmost point P _RR, the cargo tail point P _KK (cargo representative points) showing the rear portion of the cargo W (step S6e).

FIG. 11A shows a setting state of the cargo highest point _PKT . Cargo W sectional highest point P _LT obtained over the conveying direction the full length _of, P from the _RT, cargo highest point P _KT showing the upper end of the point showing the highest position freight W
Certified as. FIG. 11B shows a cargo leading point P _KS (the leading end of the cargo W) and a cargo trailing point P _KK (the trailing end of the cargo W). In this figure, since the leftmost point P _{LL of the} cross section is located at the most front end, it is set to the cargo leading point P _KS ,
Is set to the cargo tail point P _KK so sectional leftmost point P _LL is positioned closest to the rear end.

When the search processing for each cargo representative point (step S6) is completed in this way, the arithmetic processing unit 6 executes a dimension calculation processing of the cargo W based on each cargo representative point (step S7). This processing will be described in detail with reference to the flowchart shown in FIG.

First, the arithmetic processing unit 6 first calculates the cargo highest point P _KT
A conveyor 2 calculates a difference between the vertical height of the (mounting surface cargo W) as the height of the cargo W (step S7a), freight transport direction of the leftmost point P _KL and cargo rightmost point P _KR Is calculated as the width of the cargo W (step S7b), and the difference between the cargo leading point P _KS and the cargo tail point P _KK in the transport direction is calculated as the length of the cargo W (step S7c). Then, the difference in the transport direction between the cargo leading point P _KS and the pallet leading point P _PS is calculated as the front overhang length (step S7d), and the cargo trailing point P _KK and the pallet trailing point P _PK are further calculated.
Is calculated as the post-overhang length. FIG. 11B also shows such calculation of each dimension.

The arithmetic processing section 6 outputs the dimension data of the cargo W, that is, the height dimension, as the processing results of steps S1 to S7.
The front overhang length and the rear overhang length are output in addition to the width and length dimensions.

According to the present embodiment, the following effects can be obtained. (1) Since the cargo W is detected using the laser radars 5A and 5B, it is possible to detect the cargo W with high accuracy without the necessity of arranging a large number of transmission type optical sensors in a line as in the related art. . In the past, it was necessary to increase the arrangement density of transmission type optical sensors in order to increase the accuracy. However, in the present embodiment, since the laser radars 5A and 5B are used, the cargo W can be detected with extremely high accuracy. It is. (2) Further, since the two laser radars 5A and 5B are disposed obliquely above and to the left and obliquely above and to the cargo W, it is possible to accurately detect the three-dimensional transport state of the cargo W.

(3) By providing the pallet detecting section 4, it is possible to measure the front overhang length and the rear overhang length. (4) Since the three-dimensional shape of the cargo W is determined after correcting the inclination of the cargo W, it is possible to measure the accurate shape of the cargo W without depending on the inclination of the cargo W. is there. (5) Since the noise removal processing of the measurement data is performed, it is possible to avoid an erroneous measurement due to, for example, a floating substance in the air.

In the above embodiment, the case where the present invention is applied to the measurement of the transport state of the cargo W has been described, but the transport object is not limited to the cargo W. The present invention is applicable to measurement of any object to be conveyed during conveyance. In the above embodiment, the rotary encoder of the conveyor 2 is used as the transport distance measuring unit 3. However, the transport distance measuring unit 3 is not limited to the rotary encoder, and the pallet detecting unit 4 is also a reflection type optical sensor. However, the present invention is not limited to this.

[0052]

As described above, according to the apparatus and method for measuring the transfer state according to the present invention, the object to be transferred is scanned and irradiated with the laser beam in the measurement plane orthogonal to the transfer direction. Since it is equipped with a laser radar that detects the transport state of the transport object and an arithmetic processing unit that calculates the shape of the transport object based on the measurement data of the laser radar, it can be used with high accuracy without using a large number of optical sensors. The dimensions of the cargo can be determined.

[Brief description of the drawings]

FIG. 1 is a system configuration diagram showing a functional configuration of a transport state measuring device according to an embodiment of the present invention.

FIG. 2 is a front view showing a positional relationship between a pallet detecting unit 4 and laser radars 5A and 5B with respect to a conveyor 2 in a transport state measuring device according to an embodiment of the present invention.
And a side view (b).

FIG. 3 is a flowchart illustrating a processing procedure of the transport state measuring device according to the embodiment of the present invention.

FIG. 4 is an explanatory diagram showing measurement timings of various sensors according to an embodiment of the present invention.

FIG. 5 is a flowchart illustrating details of a process of acquiring a left-side cross-section representative point according to an embodiment of the present invention.

FIG. 6 is an explanatory diagram showing a process of acquiring a left-side sectional representative point and a process of acquiring a right-side sectional representative point according to an embodiment of the present invention.

FIG. 7 is a flowchart illustrating details of a process of acquiring a right-side cross-section representative point according to an embodiment of the present invention.

FIG. 8 is an explanatory diagram showing a conveyance posture of the cargo on the conveyor according to the embodiment of the present invention.

FIG. 9 is an explanatory diagram illustrating a tilt correction process according to an embodiment of the present invention.

FIG. 10 is a flowchart illustrating details of a cargo representative point search process according to an embodiment of the present invention.

FIG. 11 is an explanatory diagram showing a cargo representative point search process and a cargo size calculation process in one embodiment of the present invention.

FIG. 12 is a flowchart showing details of a cargo size calculation process in one embodiment of the present invention.

[Explanation of symbols]

W ...... Cargo (transport object) 1 ...... pallet 2 ...... conveyor 3 ...... conveyance distance measuring unit 4 ...... pallet detector 5A, 5B ...... laser radar 6 ...... processing unit P _PS ...... pallet top point P _PK … Pallet tail point P _LL … Leftmost point in cross section P _RR …… Right most point in cross section P _LT , P _RT … Highest point in cross section P _LP …… Left end point of cross section pallet P _RP …… Right end point of cross section pallet P _KL ... leftmost point of cargo (cargo representative point) P _KR ... rightmost point of cargo (representative point of cargo) P _KT ... highest point of cargo (representative point of cargo) P _KS ... leading point of cargo (representative point of cargo) P _KK …… Cargo tail point (cargo representative point)

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Masaaki Tomizawa 3-1-1-15 Toyosu, Koto-ku, Tokyo Ishikawajima Harima Heavy Industries, Ltd. Tokyo Engineering Center No. 10 Ishikawajima Harima Heavy Industries, Ltd. Koto Office F-term (reference) 2F065 AA04 AA53 FF11 FF67 GG04 HH12 HH18 MM11 PP15 QQ34 UU01 UU02 UU05 5J084 AA05 AA13 AB09 AC07 BA03 BA49 DA01 EA04 FA03

Claims (10)

[Claims] A laser radar (5) for scanning and irradiating a laser beam on a transport target (W) in a measurement plane orthogonal to the transport direction to detect a transport state of the transport target (W).
A, 5B) and an arithmetic processing unit (6) for calculating the shape of the object to be conveyed (W) based on the measurement data of the laser radar (5A, 5B).
A transport state measuring device, comprising: 2. A transport distance measuring unit (3) for measuring a transport distance of the transport target (W) and outputting the transport distance signal as a transport distance signal to an arithmetic processing unit (6). Object to be conveyed (W) by taking into account the distance signal
The transport state measuring device according to claim 1, wherein the three-dimensional shape is calculated. 3. A pallet detecting section (4) for detecting a pallet (1) on which an object to be conveyed (W) is placed and outputting the detected pallet as a pallet detection signal to an arithmetic processing section (6). (6) The transport state measuring device according to claim 1 or 2, wherein the overhang length of the transport target (W) with respect to the pallet (1) is also calculated by taking into account the pallet detection signal. . 4. A laser radar (5A, 5B) is disposed obliquely above the left side of the object to be conveyed (W), and scans a laser beam in a measurement plane perpendicular to the conveying direction to scan the object to be conveyed (W). ) And a left side laser radar (5A) for detecting a transfer state on the left side, and a transfer state on the right side of the transfer target (W) by scanning a laser beam in a measurement plane which is disposed diagonally right above and is orthogonal to the transfer direction. The right-hand laser radar (5B) detects the left edge of the object (W) based on the measurement data of the left laser radar (5A) and the right laser radar (5B). 4. The transport state measuring device according to claim 2, wherein the three-dimensional shape of the transport target (W) is calculated by specifying the right end, the upper end, the front end, and the rear end, respectively. 5. An arithmetic processing unit (6) obtains an inclination angle θ of the object to be conveyed (W) with respect to the conveyance direction based on the measurement data, and corrects the measurement data by using the inclination angle θ to obtain the object to be conveyed. The transport state measuring device according to any one of claims 1 to 4, wherein the shape of the object (W) is calculated. 6. A method for measuring a transfer state, comprising detecting a transfer state of an object to be transferred during transfer using a laser radar. 7. The transport state measuring method according to claim 6, wherein the three-dimensional shape of the transport target (W) is measured by also measuring the transport distance of the transport target (W). 8. An overhang length of the object (W) with respect to the pallet (1) is calculated by detecting a pallet (1) on which the object (W) is placed.
The method according to claim 6, wherein the transfer state is measured. 9. A laser radar (5A, 5B) is disposed diagonally above and to the left of the object to be conveyed (W) and diagonally above and to the right of the object to be conveyed, and the object to be conveyed is determined based on each measurement data of these laser radars (5A, 5B). 9. The three-dimensional shape of the object to be transported (W) is calculated by specifying a left end, a right end, an upper end, a front end, and a rear end of the object (W), respectively. Method of measuring the transport state of 10. A shape of the object to be transported (W) is calculated by obtaining an inclination angle θ of the object to be transported (W) with respect to the transport direction based on the measurement data, and correcting the measurement data using the angle of inclination θ. 7. The method according to claim 6, wherein
10. The method for measuring a transport state according to any one of claims 9 to 9.