JP2019147884A - Work position detector - Google Patents

Abstract

To provide a work position detector capable of accurately acquiring a target position and a target number even when the target is displaced or deformed.SOLUTION: The work position detector according to an embodiment comprises: light emitting means for irradiating the target with light, imaging means for acquiring two-dimensional image data within a visual field range including the target, target position calculation means for extracting an outline of the target from the two-dimensional image data to calculate a center position of the target and a distance to the target based on the outline of the target, and target number detection means for detecting light/dark information generated by at least one of a shape, a position, and a number of openings formed in the target from the two-dimensional image data to determine the target number based on the light/dark information.SELECTED DRAWING: Figure 3

Description

  Embodiments described herein relate generally to a work position detection device that detects a work position of a mobile device that automatically travels in a coke oven.

  Around the equipment of the coke oven, there are coke dust and gas generated during the dry distillation of coal, and the coke oven itself becomes high temperature, so it is difficult to say that the working environment is good. In addition, around the equipment of the coke oven, heavy items are transported and many dangerous items such as rotating machines are installed.

  In a coke oven, multiple mobile units work together. Examples of the mobile machine include a charging car, an extruder, a guide car, and a fire fighting train. In order to improve the efficiency of operation, automation of moving and positioning of mobile machines to the work position and each furnace work is also progressing. Among these mobile machines, those that involve automatic operation of capping work, extrusion ram charging, and charring work are required to have high-precision alignment (kiln core alignment) with respect to the operation position.

  A target core sensor is used for detecting the position of the mobile device. A plate-shaped target is installed at each kiln position of the coke oven and other work positions, and the target core sensor detects the work position of the mobile device by the target.

  A slit having kiln number information is formed on the target. In order to read the kiln number information of the target, a light source for irradiating the target with light is provided on the back of the target, and a line sensor is provided on the front of the target. The line sensor detects light and dark information including light that has passed through the slit of the target. The kiln number information is determined based on the detected light / dark information.

  By measuring the line-of-sight width of the line sensor, the width of the target, and the distance from the edge of the target to the edge of the field of vision, it is possible to identify the current position of the mobile device and obtain the current position while traveling or stop at the work position Yes.

Japanese Patent Laid-Open No. 5-94516 JP-A-6-248271 JP-A-6-322372 JP-A-7-55420 JP 2016-216700 A JP 2017-39787 A JP 2013-216787 A

  In the target core detection device for a mobile device disclosed in Patent Documents 1 to 4, alignment is performed based on the position of the target detected by the line sensor. However, the position of the target attached to each kiln shifts with the shape change due to the heat of the coke oven or the secular change of the brick. If the target deviates from the reading field of the line sensor or the slit having the kiln number information of the target deviates from the reading field, the working position and the kiln number information may not be detected correctly. Therefore, it is necessary for the worker to finely adjust the target mounting position so that the target and the slit of the target are within the visual field range of the line sensor.

  In Patent Documents 5 and 6, laser light is used as the light source. However, if the portion irradiated with the laser light is removed from the target or the opening, the reading of the kiln information and accurate positioning cannot be performed. It is the same as that of the case of patent documents 1-4.

  In Patent Documents 1 to 7, the mobile device detects the light / dark information of the target along the moving direction. When a line sensor or the like is used to detect light / dark information of the target, almost no image information can be acquired in a direction perpendicular to the plane including the moving direction of the mobile device. Therefore, correct brightness information may not be obtained due to external factors such as smoke, dust, raindrops, etc. from the coke oven.

  The embodiment of the present invention is made to solve the above-described problem, and even when the target is displaced or deformed, the target position and target number can be accurately obtained. An object of the present invention is to provide a working position detection device capable of performing the above.

  The work position detection device according to the embodiment is provided in a coke oven, detects a kiln set by a target having information on a target number for specifying the kiln and its own work position, and moves to the work position. The working position detection device extracts a contour of the target from the light emitting means for irradiating the target with light, imaging means for acquiring two-dimensional image data within a visual field range including the target, and the two-dimensional image data. A target position calculating means for calculating the center position of the target and the distance to the target based on the outline of the target, and the shape, position, and number of openings opened from the two-dimensional image data to the target. And target number detecting means for detecting the light / dark information generated by at least one of them and determining the target number based on the light / dark information.

  In this embodiment, since the imaging means for acquiring the two-dimensional image data within the visual field range including the target is provided, the target position and target number can be accurately acquired even if the target is displaced or deformed. Can do.

FIG. 1A is a schematic perspective view illustrating a coke oven. FIG. 1B is a schematic front view illustrating a mobile device used in a coke oven. It is a schematic diagram which illustrates a target. It is a schematic diagram which illustrates the work position detection apparatus which concerns on embodiment. It is a block diagram which illustrates the work position detection device concerning an embodiment. FIG. 5A and FIG. 5B are schematic diagrams for explaining the distance from the target to the imaging device and the center position of the target.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
The drawings are schematic or conceptual, and the relationship between the thickness and width of each part, the size ratio between the parts, and the like are not necessarily the same as actual ones. Further, even when the same part is represented, the dimensions and ratios may be represented differently depending on the drawings.
In the present specification and drawings, the same elements as those described above with reference to the previous drawings are denoted by the same reference numerals, and detailed description thereof is omitted as appropriate.

FIG. 1A is a schematic perspective view illustrating a coke oven.
As shown in FIG. 1A, the coke oven 30 includes a plurality of kilns 31. In each of the plurality of kilns 31, coal is charged, and after the coal is carbonized, red hot coke is extruded and cooled. Each kiln 31 is provided with a furnace lid 31a during dry distillation, and the furnace lid 31a is removed during extrusion. The lid removal operation for removing the furnace lid 31a, the insertion of an extrusion ram for extruding coke, the coal loading operation for charging coal into the kiln 31 and the like are automated using a mobile device.

FIG. 1B is a schematic front view illustrating a mobile device used in a coke oven.
As shown in FIG. 1B, the coke oven 30 is provided with a plurality of mobile units. The plurality of moving machines are a charcoal wheel 33, an extruder 32, a guide wheel 34, a fire extinguishing train 35, and the like. The coal loading car 33 charges coal into a coke oven. The extruder 32 removes the furnace lid 31a provided in the kiln 31, and extrudes coke after dry distillation from the furnace. The guide car 34 guides the red hot coke extruded from the furnace to the fire extinguishing train 35, and the fire extinguishing train 35 cools the extruded red hot coke.

FIG. 2 is a schematic view illustrating a target.
In each kiln 31, a target 100 for positioning the mobile device is installed at a work position where the mobile device is arranged. As shown in FIG. 2, the target 100 is a substantially rectangular plate-like body having contours L1 to L4. The shape of the outer frame of the target 100 is all the same in the same furnace group.

  The target 100 has an opening C. The opening C represents a target number set for each target 100. The target number is a number that identifies the kiln 31. In this example, the opening C is formed in a slit shape, and the position and number of the opening C are assigned according to the target number. For example, the opening C is opened at seven locations, where “1” is a location where the opening C is formed and “0” is a location where the opening C is not formed. 1111111 "can be represented. In addition, what is necessary is just to be able to specify a target number for at least one of the shape, position, and number of openings. The opening may be represented by, for example, a decimal number (Arabic numerals) or a hexadecimal number (alphanumeric characters), or may be another character (such as katakana).

A work position detection device for detecting the position and target number of the target 100 is provided for each mobile device.
FIG. 3 is a schematic view illustrating the work position detection device according to the embodiment.
As shown in FIG. 3, the work position detection device 50 includes a target detector 1 and an image processing unit 10.

  The target detector 1 includes a light source 3 and an imaging device 2. Hereinafter, the side on which the imaging device 2 is disposed with respect to the target 100 is referred to as the front side of the target 100, and the side opposite to the side on which the imaging device 2 is disposed is referred to as the back side of the target 100. In this example, the light source 3 is provided on the back side of the target 100, and the imaging device 2 is provided on the front side of the target 100. That is, the imaging device 2 and the light source 3 are provided so that the target 100 is sandwiched between the imaging device 2 and the light source 3.

  In addition, when using a laser light-emitting device for the light source 3, the light source 3 is provided in the front side of the target 100 which is the same side as the imaging device 2. The laser light emitting device irradiates the front of the target 100, and the imaging device detects reflected light from the target 100.

  A light-shielding hood 5 is provided around the light source 3 and the imaging device 2. The hood 5 prevents external light such as sunlight from entering, and prevents smoke, dust, and the like from entering the visual field range 4 and the viewing angle of the imaging device 2.

  The visual field range 4 indicates a two-dimensional reading range that can be detected by the imaging apparatus 2. The visual field range 4 has an area that can sufficiently include the entire image of the target 100. In the visual field range 4, the light emitted from the light source 3 irradiates the target 100 and reaches the imaging device 2. Therefore, the imaging device 2 can detect the contour of the target 100 by blocking the light from the light source 3. In addition, since light passes through the opening C of the target 100, the imaging device 2 can detect light and dark information including a portion through which light passes and a portion through which light does not pass.

  The image processing unit 10 processes the light / dark information of the target 100 detected by the target detector 1 as two-dimensional image data. The image processing unit 10 detects the position of the target 100 and determines the target number of the target 100 based on the two-dimensional image data acquired by the imaging device 2. Information on the position of the target 100 and the target number is transmitted to the programmable controller (PLC) 22. The PLC 22 detects the current position of the work position detection device 50 based on these pieces of information.

FIG. 4 is a block diagram illustrating a work position detection device unit according to the embodiment.
FIG. 5A and FIG. 5B are schematic diagrams for explaining the distance from the target to the imaging device and the center position of the target.
As shown in FIG. 4, the image processing unit 10 includes a memory 12, a target contour extraction unit 13, a target position calculation unit 16, a target number information range extraction unit 15, a target number information detection unit 17, and dirt detection. Part 20.

  The two-dimensional image data of the visual field range 4 acquired by the imaging device 2 is temporarily stored in the memory 12. The image data in the visual field range 4 includes images of the target 100 at different positions in the visual field range 4 according to the movement of the mobile device. The target contour extraction unit 13 reads image data from the memory 12, extracts the contour of the target 100, and obtains vectors of four sides L1 to L4 (FIG. 2) representing the contour.

  The target reference 14 stores data of vectors of four sides indicating the actual contour (reference contour data) of the target 100. The target contour extraction unit 13 supplies the reference contour data stored in the target reference 14 and vector data relating to the contour of the image data to the target position calculation unit 16.

  5A and 5B show the definition of the distance Z from the target 100 to the imaging device 2 and the definition of the center position A of the target 100. FIG. The target position calculation unit 16 calculates the center position A of the target 100 and the distance Z from the target 100 to the position E of the imaging device 2 from the vector data related to the contour supplied from the target contour extraction unit 13.

  For example, the target position calculation unit 16 calculates the center position A of the target 100 by calculating the intersection of line segments connecting the midpoints of the opposing vectors among the vectors related to the contour of the target 100. For example, the target position calculation unit 16 calculates the distance Z to the target 100 from the vector representing the reference contour read from the target reference 14 and the vector related to the acquired image data contour.

  Data of the calculated center position A and distance Z of the target 100 is transmitted to the PLC 22.

  The target number information range extraction unit 15 inputs the contour data of the target 100 extracted by the target contour extraction unit 13. The target number information range extraction unit 15 sets the target number information range B based on the contour data of the target 100 (FIG. 5B). The target number information range extraction unit 15 supplies the data of the target number information range B to the target number information detection unit 17.

  The target number information range B indicates a region where the opening C can be formed, and the target number information detection unit 17 detects and interprets image data in the target number information range B. The target number information detection unit 17 determines the target number based on the shape of the opening C of the target number information range B and the like.

  The dirt detection unit 20 detects a portion that is dark in a portion other than the portion where the target 100 is imaged in the visual field range 4. The dirt detection unit 20 determines that the dark area within the visual field range 4 regardless of the target 100 is the dirty area D of the light source 3 and excludes the coordinate data in the visual field range 4 at that place from the target number information range B. To do.

  When the dirt detection unit 20 sets the dirt region D, the target number information detection unit 17 detects the target number from the light / dark information in the other target number information range B regardless of the light / dark information in the dirt region D. To do.

  Data of the target number detected by the target number information detection unit 17 is transmitted to the PLC 22.

  The PLC 22 determines the position of the mobile device from the target 100 based on the target center position A, target distance Z, and target number data transmitted from the image processing unit 10. The mobile device provided with the work position detection device 50 moves to a predetermined position of the target 100 and stops it.

  More specifically, the PLC 22 includes a position detection calculation unit 18 and a target position information table 19. The position detection calculation unit 18 inputs data of the center position A and target distance Z of the target. The position detection calculation unit 18 acquires the position information of the target 100 corresponding to the target number from the target position information table 19 and calculates its own position.

  The image processing unit 10 is realized by a device that sequentially reads and executes a program stored in a memory such as a CPU (Central Processing Unit). Part or all of the above-described units are executed by one or more steps constituting the program. Further, the separation of the image processing unit 10 and the PLC 22 is an example, and is not limited to the above. The image processing unit may include some or all of the PLC functions described above.

An operation of the work position detection device 50 according to the embodiment will be described.
Since the target detector 1 of the working position detection device 50 of the embodiment is mounted on a mobile device, it moves together with the mobile device. The imaging device 2, the image processing unit 10, and the PLC 22 sequentially acquire image data, for example, at regular intervals, process the image data, sequentially calculate the target position (center position A, distance Z), and stop the mobile device Are sequentially calculated.

  More specifically, a series of operations will be described. First, the imaging device 2 acquires image data of the visual field range 4.

  The image processing unit 10 extracts the contour of the target 100 from the image data in the visual field range 4 and calculates the center position A of the target 100 and the distance Z from the target to the imaging device 2.

  The image processing unit 10 sets the dirt region D of the light source 3 based on the image data of the visual field range 4 and the contour data of the target. The setting of the dirt region D is determined based on, for example, whether or not all the images of the target 100 are included in the image data sequentially captured in the visual field range 4. When the image of the visual field range 4 includes all the images of the target 100, the dirt region D is not set. When a part of the image of the target 100 is not included in the image in the field of view range 4, the area is set as a dirt area D that is dirt on the light source 3.

  The image processing unit 10 sets the target number information range B based on the contour data of the target 100 extracted from the image of the field-of-view range 4, and if it is set, the target number information range B is set to the dirty area. A process of excluding D is performed.

  The image processing unit 10 detects the light / dark information generated according to the opening C from the image of the target 100 and identifies the target number.

  The image processing unit 10 supplies the calculated center position A of the target 100, the distance Z of the target 100, and the target number to the PLC 22.

  The PLC 22 obtains the position data of the target 100 from the target number data, and calculates the current position of the mobile device based on the target position data, the target center position A, and the distance Z data of the target 100.

  The above-described operation is repeated until the current position of the mobile device matches the center position A of the target 100.

  Note that the extraction of the target number information range B, the detection of the target number information, and the detection / setting of the dirty area D need not be performed again until the mobile device stops once it is detected and set. Alternatively, it may be excluded from the above-described repetitive loop by performing detection or setting condition determination.

The effect of the working position detection device 50 according to the embodiment will be described.
The working position detection device 50 according to the embodiment detects the two-dimensional image data of the target 100 by acquiring the two-dimensional image data and extracting the contour thereof, so that the target 100 is displaced in the Y-axis direction, the target 100 is deformed, Even if dust or the like is present around the target 100, the position of the target 100 can be reliably detected.

  Since the work position detection device 50 detects brightness / darkness information generated according to the target 100 from the acquired two-dimensional image data, the target number is accurately detected even if the position of the target 100 is shifted in the Y-axis direction. can do.

  Further, in the method in which the light source 3 is provided on the back surface of the target 100, the contamination area D of the light source 3 is set in the image data in the visual field range 4, so that the data relating to the target 100 is not erroneously detected due to the contamination of the light source. Become. Therefore, the maintenance frequency can be reduced.

  According to the embodiment described above, it is possible to realize a working position detection device that can accurately acquire the position and target number of a target even when the target is displaced or deformed.

  As mentioned above, although some embodiment of this invention was described, these embodiment is shown as an example and is not intending limiting the range of invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the scope of the invention described in the claims and the equivalents thereof. Further, the above-described embodiments can be implemented in combination with each other.

  DESCRIPTION OF SYMBOLS 1 Target detector, 2 Imaging device, 3 Light source, 4 Field of view range, 5 Hood, 10 Image processing part, 12 Memory, 13 Target outline extraction part, 14 Target reference | standard, 15 Target number information range extraction part, 16 Target position calculation part , 17 Target number information detection unit, 18 Position detection calculation unit, 19 Target position information table, 20 Dirt detection unit, 22 Programmable controller, 30 Coke oven, 31 Kiln, 32 Extruder, 33 Charcoal vehicle, 34 Guide vehicle, 35 Fire extinguishing Train, 100 targets

Claims (3)

A work position detection device for a mobile device that is provided in a coke oven and detects a kiln set by a target having information on a target number that identifies the kiln and its own work position and moves to the work position,
A light emitting means for irradiating the target with light;
Imaging means for acquiring two-dimensional image data within a visual field range including the target;
A target position calculating means for extracting the outline of the target from the two-dimensional image data and calculating a center position of the target and a distance to the target based on the outline of the target;
Target number for detecting brightness / darkness information generated by at least one of the shape, position and number of openings opened in the target from the two-dimensional image data, and determining the target number based on the brightness / darkness information Detection means;
A working position detecting device.   The work position detection device according to claim 1, wherein a current work position with respect to the center position is calculated based on the center position of the target and the distance, and the work position detection device stops when the current work position matches the center position. The light emitting means is provided on the opposite side of the target where the imaging means is provided,
The operation according to claim 1, further comprising: a dirt detecting unit that detects a region where the light emission amount is smaller than a predetermined threshold value among the light emitting portions of the light emitting unit, and sets the region as an unreadable region in the visual field range. Position detection device.

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