JP2018162144A - Method of managing storing location in coil yard - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method of managing a storing location in a coil yard capable of accurately figuring out a coil position and a gap amount between coils in the coil yard.SOLUTION: The method of managing a storing location in a coil yard includes a step of imaging the coil yard, a step of storing an image/position data, a step of extracting a coil in the image, a step of an image producing based on a DB data, a step of calculating the positional deviation and dimensional deviation, a step of judging the deviation amount, and a step of a DB data correction for correcting the DB data.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a coil yard placement management method for maintaining and managing position information of coils on a coil yard such as an ironworks.

  Conventionally, coil location management in a coil yard (hereinafter abbreviated as “yard”) was performed by dividing a predetermined cell and determining a designated address for each, and defining and managing one coil location for each designated address. . However, at present, position control accuracy on the order of 10 mm is possible due to improvements in automatic crane equipment and crane absolute position detection accuracy. This makes it possible to maximize the yardage by managing the gap between coils by placing the coil at an arbitrary position, rather than managing the one-to-one placement between the designated address and the coil, with one coil corresponding to one designated address It has become possible to use it as efficiently as possible.

  In the coil handling work by the automatic crane in the coil yard, the accuracy of the position information of the coil placed in the coil yard is required. When coil handling (coil lifting / carrying / unloading) is performed based on incorrect position information, collision between coils, interference between coil and crane tong (equipment holding coil), load swing during lifting, etc. This will cause handling trouble.

  Although it is possible to install coil position detection sensors at all positions in the coil yard and manage the position of the coil, the larger the coil yard, the greater the number of sensors required, which is also practical in terms of cost. Not right.

  Therefore, basically, coil placement management is performed using information on the position of the coil suspended on the coil yard by an automatic crane facility.

  As a technique disclosed so far, for example, Patent Document 1 discloses a coil position detection by a triangulation method using two TV cameras and a laser light source, which is referred to as a “coil handling control method using a crane”. There is a technology for moving the coil quickly and with high accuracy.

  In Patent Documents 2 and 3, the former is referred to as a “coil position detecting device”, and the former uses two TV cameras and the latter uses one TV camera, respectively, to obtain three-dimensional position data in the radial direction of the coil. A technique that can detect the center position and radius of a coil with high accuracy even when a disturbance component exists is disclosed.

JP 05-330787 A Japanese Patent Laid-Open No. 06-66522 JP 07-63519 A

  Although the techniques disclosed in the above-mentioned prior art documents 1 to 3 can detect an accurate coil position, the coil to be detected is only the coil that is currently handled by the crane, and for coil lifting. The target is limited to the coil position detection.

  Therefore, it is impossible to detect the position of other coils other than the object to be handled or the amount of gap between adjacent coils, and a detection method sufficient to prevent interference between adjacent coils or tongs during lifting There is a problem that can not be said.

  Also, there is a problem that the detection method is not an effective method even when the coil is suspended. That is, when the coil is suspended, the coil yard vacancy information (gap information between adjacent coils) is necessary, but this is not a mechanism for detecting this.

  This invention is made in view of such a conventional problem, and provides the placement management method of a coil yard which can grasp | ascertain correctly the coil position on a coil yard, and the gap | interval amount between coils. With the goal.

  The above problems can be solved by the following invention.

[1] A coil yard storage management method for maintaining and managing position information of a coil on a coil yard,
With the movement of the on-board crane, the coil yard is imaged with a camera from above, and the coil yard imaging step;
An image / position data storage step for storing image data and imaging position data based on an on-machine crane absolute position measurement at a predetermined cycle;
A coil extraction step in the image, which performs image processing of the stored image and extracts an image of the coil portion;
An image creation step based on DB data for creating a coil image that is predicted to be captured from a position captured by a camera using DB data in which data such as a coil size and a placement position is registered;
Calculating a positional deviation and a dimensional deviation between the extracted coil part image and the created predicted coil image;
A deviation amount determination step for determining whether or not the calculated deviation amount is smaller than a preset threshold;
When the calculated deviation amount is smaller than a preset threshold value, the DB data correction step for correcting the DB data;
A coil yard storage management method characterized by comprising:

[2] In the coil yard storage management method according to [1] above,
In the image creation step based on the DB data,
A step with the camera view center as the origin of coordinates;
Making the coil outline a collection of circles;
Creating a group of straight lines circumscribing the circle from the origin;
Obtaining an intersection of the created straight line group and the coil yard surface;
Creating an outline image that collects all obtained intersections;
A coil yard storage management method characterized by comprising:

  According to the present invention, it is possible to detect and correct the coil position information in the entire range imaged by the camera as the crane travels. Therefore, the coil yard placement information is updated to accurate information sequentially. It is possible to go. Thereby, the yard can be used as efficiently as possible.

It is a figure which shows typically the coil yard and apparatus structural example to which this invention is applied. It is a figure which shows the example of a process sequence of the placement management method of the coil yard which concerns on this invention. It is a figure which shows the example of a process sequence of the image preparation method based on DB data. It is a figure which shows typically the image preparation method based on DB data. It is a figure which shows typically the position and dimension shift | offset | difference of the imaged image and the image based on DB data. It is a figure explaining the process example in correction of DB data.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a diagram schematically showing a coil yard and an apparatus configuration example to which the present invention is applied. In the figure, 1 is an on-board crane, 2 is a crane tong, 3 is an illumination, 4 is a camera, 5 is a coil, and 6 is a coil yard.

  The coil 4 such as coils A to C is sufficiently illuminated by a camera 4 mounted on an on-board crane (also abbreviated as a crane) 1 installed above the coil yard 6 and moving in the horizontal direction and the vertical direction of the paper. It shows a situation where an image is captured under a certain luminance. An onboard crane 1 is loaded with a crane tong 2 which is a gripping device for lifting and lowering the coil 5. The crane tong 2 and the camera 4 are installed at fixed relative positions, and move with the relative position maintained as the on-board crane 1 moves.

  Also, a plurality of absolute address reference marks (not shown) for position correction may be provided on the surface of the coil yard 6 at intervals where one is always in the field of view. The coordinate correction of the image can be performed by the camera position information at the time of imaging and the absolute address reference mark in the image.

  Imaging with the camera 4 is performed as the on-board crane 1 moves, and image data is stored periodically (for example, every 5 sec or every 10 m operation). Then, simultaneously with the image data, the absolute position of the crane is also stored using a measuring instrument such as PLG (not shown). In imaging, the shadow of the coil is not formed on the coil yard, for example, illumination is performed from multiple directions, for example, from four directions. Further, if the surface of the coil yard is painted in a single color (for example, a blue back) different from that of the coil, the accuracy of image processing described below can be improved.

  FIG. 2 is a diagram showing a processing procedure example of the coil yard storage management method according to the present invention. Hereinafter, description will be made based on the drawings.

  First, imaging of the coil yard in Step 01 is performed based on an imaging timing start command (Start). As the on-board crane moves, the coil yard is imaged from above with a camera.

  In Step 02, image data and imaging position data based on the on-board crane absolute position measurement are stored as a pair of data in a predetermined cycle. Step 01 and Step 02 are performed until the entire coil yard is covered.

  The relative position between the camera and the crane tong is always fixed, and the height distance between the camera and the ground is fixed. Nowadays, a relatively inexpensive and high-resolution camera is available. For example, if a camera of about 12 million pixels (4000 pixels × 3000 pixels for a 4 to 3 aspect ratio screen) is used, the viewing angle and zoom are adjusted to a horizontal direction of 5 m / 4000 pixels, which is about 1.25 mm / pixel. The maximum resolution is obtained.

  Actually, although a certain degree of accuracy degradation occurs in an image unclear portion such as a coil edge portion, an accuracy of about 20 mm can be expected. In order to further increase the accuracy, it is possible to narrow down to a desired accuracy by adjusting the viewing angle and zoom and increasing the resolution per pixel.

  Moreover, in coil handling in crane conveyance, in order to avoid interference troubles between the crane tongs and the coils, position control is usually performed with a margin of about 100 mm. Therefore, it can be said that the image detection accuracy is sufficient if the accuracy is about 20 mm.

  Next, one image data is selected from the plurality of stored image data, image processing is performed on this image, and a coil portion is extracted from the image (Step 03). In image processing, feature extraction of the coil position (edge) is performed by binarization processing or the like. If the coil yard side is painted in a single color (for example, a blue back) different from that of the coil, erroneous detection can be prevented when extracting the coil portion from the image.

  As for the next correction of the imaging position (Step 04), the absolute position reference mark in the image is used to compare the camera position information at the time of imaging and the reference mark in the image, thereby correcting the coordinates of the image. Although the accuracy of the image position data is improved by this process, it is not necessarily an essential process as long as the accuracy of the measured on-board crane position is sufficient.

  In the following Step 05, imaging is performed from the position captured by the camera using data (referred to as DB data) such as the dimensions of the target coil and the placement position registered in the placement information database (simply abbreviated as DB). A coil image predicted to be generated is geometrically calculated and created. Assuming that the coil imaged by the camera is the coil size and placement position registered in the DB, a projection image that is to be imaged is obtained.

  FIG. 3 is a diagram illustrating a processing procedure example of an image creation method based on DB data. FIG. 4 is a diagram schematically showing an image creation method based on DB data. The coil to be imaged has a three-dimensional shape having a predetermined outer diameter and width, and the obtained image is a planar image projected from the camera onto the coil yard surface. For this reason, a projection image of the coil to be obtained is obtained by geometric calculation.

  The processing will be described with reference to FIG. 4 according to the processing procedure example of FIG. First, in Step 101, the camera visual field center is set as the coordinate origin. Here, if the imaging position is corrected in Step 04 of FIG. 2, the origin is determined based on the corrected coordinates.

  Next, in Step 102, the coil outline is set as a collection of circles. This is because the coil shape is cylindrical as shown in FIG. 4 and the coil outline can be regarded as an aggregate of circles in the width direction. Assume that an assembly in which a circle having a diameter of the coil outer diameter continues by the coil width is placed at a predetermined position.

  In step 103, a straight line group circumscribing the circle from the origin is created. A straight line connecting each point on the circumference forming the coil and the camera origin is created for all the circles as an aggregate. Further, an intersection point between the straight line group and the coil yard surface (the surface of the coil yard on which no object such as a coil is placed) is obtained (Step 104).

  Finally, in Step 105, an outline image in which all intersections are collected is created and used as a coil projection image on the coil yard surface.

  The image creation based on the DB data in Step 05 shown in FIG. 2 is completed as described above, and then the position deviation and dimension deviation calculation steps in Step 06 in FIG. 2 are performed. FIG. 5 is a diagram schematically showing a positional / dimensional shift between a captured image and an image based on DB data.

  The real images of the coils A to C shown in FIG. 1 are indicated by solid lines, and the images based on the DB data are indicated by dotted lines. In the figure, although the positional deviations of the coils A and B are small, the positional deviation of the coil C is large. Further, the dimensional deviation may be compared based on, for example, the area of each figure.

  In this manner, the amount of deviation between the two is obtained, and in Step 07, the amount of deviation is determined whether or not the obtained amount of deviation is smaller than a preset threshold value. Here, if the obtained deviation amount is smaller than a preset threshold value (Yes), the coil data extracted from the captured image is assumed to be correct, and the previously stored DB data of the target coil is corrected. (Step 08), if all the images have not been processed in Step 09 (No), the image to be processed is changed to the next image, and the process returns to Step 03. If processing of all images is completed in Step 09 (Yes), all processing is completed.

  In Step 07, if the calculated deviation amount is equal to or greater than the preset threshold value (No), the DB data is not corrected and illustration is omitted, but an alarm is output to notify the operator and Ask for processing decisions. This is because various causes such as an abnormality in a device such as a camera, an abnormality in arithmetic processing, and a coil having been moved after the previous imaging timing are considered.

  The process proceeds to Step 10 only after appropriate processing is performed and the operator determines that the processing can be continued. If processing of all images has not been completed in Step 10 (No), the image to be processed is changed to the next image, and the process returns to Step 03. If processing of all images is completed in Step 10 (Yes), all processing of the present invention is terminated.

  FIG. 6 is a diagram illustrating an example of processing in DB data correction. The state of imaging when the camera and the coil are on the same plane is shown.

  The coil imaging conditions are the height H from the coil yard surface to the camera, the imaging range S, and the total angle of view θ from the image center. Further, as DB data, the coil center position C, coil dimensions (outer diameter) D, the projection image of the coil in the case of width W) is drawn.

  First, angles (θ1 and θ2) detected as coil edge ends (edge 1 and edge 2) can be expressed by the following formula (1), respectively.

  The positions (E1 and E2) where the coil edge ends (edge 1 and edge 2) should be drawn as screen positions can be expressed by the following equation (2), respectively.

  As described above, as the DB data, the coil stored as the coil center position C and the coil dimensions (outer diameter D, width W) remains as this data, and the coil imaging conditions (the height H from the coil yard surface to the camera, This is a geometrically calculated position (E1 and E2) of the coil edge end in the image captured in the imaging range S and the entire field angle θ from the center of the image.

  On the other hand, assume that the positions of the coil edge ends actually captured by the camera are E1m and E2m, respectively. In the present invention, as shown in Step 06 and Step 07 in FIG. 2, the difference between E1 and E1m and the difference between E2 and E2m are obtained as positional deviation amounts, and when this deviation amount is smaller than a preset threshold value, imaging is performed. Assuming that the obtained image is correct, the DB data of the target coil stored previously is corrected (Step 08).

  As a correction method, the above formulas (2) and (1) are calculated backward. That is, E1m and E2m, which are the positions of the coil edge ends actually captured by the camera, are assumed to be correct, and E1m and E2m are substituted into the above equation (2) to obtain θ1m and θ2m. Substituting it into the formula, the coil center position Cm to be corrected is obtained.

  According to the present invention described so far, coil position information can be detected and corrected in all ranges imaged by the camera as the crane travels. It becomes possible to update to. In addition, simultaneous detection of a plurality of coils within the camera field of view is possible, and gap information between these coils can be updated simultaneously.

  Furthermore, from these, it is possible to use the yard efficiently to the maximum extent by using the latest gap interval information not only when the coil is lifted but also when the coil is lowered to the yard.

1 On-board crane 2 Crane tong 3 Lighting 4 Camera 5 Coil 6 Coil yard

Claims (2)

A coil yard location management method for maintaining and managing position information of a coil on a coil yard,
With the movement of the on-board crane, the coil yard is imaged with a camera from above, and the coil yard imaging step;
An image / position data storage step for storing image data and imaging position data based on an on-machine crane absolute position measurement at a predetermined cycle;
A coil extraction step in the image, which performs image processing of the stored image and extracts an image of the coil portion;
An image creation step based on DB data for creating a coil image that is predicted to be captured from a position captured by a camera using DB data in which data such as a coil size and a placement position is registered;
Calculating a positional deviation and a dimensional deviation between the extracted coil part image and the created predicted coil image;
A deviation amount determination step for determining whether or not the calculated deviation amount is smaller than a preset threshold;
When the calculated deviation amount is smaller than a preset threshold value, the DB data correction step for correcting the DB data;
A coil yard storage management method characterized by comprising: In the coil yard storage management method according to claim 1,
In the image creation step based on the DB data,
A step with the camera view center as the origin of coordinates;
Making the coil outline a collection of circles;
Creating a group of straight lines circumscribing the circle from the origin;
Obtaining an intersection of the created straight line group and the coil yard surface;
Creating an outline image that collects all obtained intersections;
A coil yard storage management method characterized by comprising: