JP3070706B2 - Coil position measuring device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a coil position measuring device for measuring the position of a coil placed in a coil yard using a laser.

[0002]

2. Description of the Related Art When lifting a coil carried into a coil yard by an automatic crane, the position of the coil is measured to guide the automatic crane on the coil. Heretofore, image processing using a CCD camera has been frequently used for this measurement. However, measurement of the coil position using image processing has problems such as that the measurement device is complicated and expensive, and when the surface of the coil shines, the coil cannot be distinguished from the background, making measurement impossible. Was. Then, measurement of the coil position by a laser is considered. An example is shown in FIG.

The laser range finder 40 utilizes triangulation, emits a laser beam directly below, receives reflected light on a light receiving axis inclined with respect to the light projecting axis, and measures the distance to the reflection point. Measure. When the position of the coil 10 is measured using the laser distance meter 40, it is necessary to scan the coil 10 in the X direction and the Y direction with a laser beam. In the measurement method shown in FIG. 5, scanning in the Y direction is performed by swinging the laser distance meter 40.

[0004]

In such a coil position measuring method using a laser, data necessary for measuring the position of the coil 10 can be obtained. However, the laser rangefinder 40
The structure of the measuring device is complicated to make the head swing,
In addition, the life of the laser distance meter 40 may be shortened due to vibration or the like caused by swinging. Further, there is a problem that it takes a long time to swing and a calculation for data processing takes a long time, and the measurement time becomes long.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a coil position measuring apparatus which collects data required for coil position measurement in a short time and has a simple structure and low vibration. Aim.

[0006]

A coil position measuring device according to the present invention is a coil position measuring device for measuring the position of a coil placed in a coil yard by using a laser, and comprises a plurality of parallel projecting devices. A laser range finder that projects laser light from directly below the light units, receives each reflected light by a light receiving unit and measures the distance to each reflection point, and holds the laser range finder. A transverse traveling body that travels in a direction perpendicular to the parallel direction of the light emitting units while traversing a distance equal to or more than the parallel spacing in the parallel direction of the light emitting units, and the laser corresponding to a moving position of the lateral traveling body. And a calculator for inputting a distance to each reflection point measured by the range finder and performing a calculation necessary for measuring the coil position.

[0007]

A plurality of positions of the coil are linearly scanned by a plurality of laser beams by the traveling of the lateral traveling body. Scanning in the right-angle direction is also performed by traversing the lateral traveling body on the way. Therefore, without swinging the laser rangefinder, the data required for coil position measurement is collected,
Moreover, the traversing distance of the lateral traveling body can be reduced to a distance corresponding to the interval between the laser beams.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a front view showing the structure of an example of a coil position measuring device embodying the present invention, FIG. 2 is a side view of the coil position measuring device, FIG. 3 is a plan view of the coil position measuring device, and FIG. It is a top view for explaining the point of a coil position measurement using a coil position measuring device.

[0009] The coil 10 is placed on a cart 11 or a pallet or the like and is carried into a coil yard. This loading is performed in the X direction of the coil yard.

The coil position measuring device includes a lateral traveling body 20 that freely travels in the X direction on the coil 10 carried into the coil yard and can slightly traverse in the Y direction. The lateral traveling body 20 is a so-called club, and is provided above the overhead traveling crane so as not to interfere with the club or the like. A laser range finder 30 is placed on the lateral traveling
Is attached.

The laser range finder 30 is of a two-dimensional type, for example, eleven light projecting sections P for projecting a laser beam immediately below (in the Z direction).
1 to P11. The light projecting parts P1 to P11 are provided by the horizontal traveling body 20.
Are arranged at a predetermined pitch in the Y direction. The distance from the light projecting portion P1 to the light projecting portion P11 is larger than both the axial length and the outer diameter of the coil 10,
The width of the carriage 11 is substantially the same.

The laser range finder 30 has two light receiving portions, which are in a diagonal relationship with respect to the light projecting portions P1 to P11. That is, one light receiving portion M1 is a light projecting portion P1 at one end of the lateral traveling body 20.
, And the other light receiving unit M2 is
0 at the corner on the side of the light emitting portion P11 at the other end.

The light receiving section M1 on the side of the light projecting section P1 is
For example, the reflected light of the laser light projected from the light projecting units P1 to P6 is received and the distance to each reflection point is measured, and the light receiving unit M2 on the side of the light projecting unit P11 is, for example, a light projecting unit. P6 to reflected light of the laser light projected from the light projecting unit P11 is received, and the distance to each reflection point is measured.

The output of the laser distance meter 30 is input to a controller (not shown). The controller stores, for example, eleven distances measured by the laser distance meter 30 in association with the moving position of the laterally traveling body 20, and performs various calculations for specifying the position of the coil 10. This will be described with reference to FIG.

The distance between the light projecting parts in the laser range finder 30 is 250 mm. The lateral traveling body 20 can travel freely in the X direction, and the moving amount in the Y direction is, for example, 500 times, which is twice the above interval.
mm. The coil 10 is carried into the coil yard so as not to protrude from the laser light at both ends (FIG. 1). The spot of the laser beam hitting the coil 10 is represented by Sm-1 to S6 to S
Let n. S6 is the center spot.

First, a description will be given of the measurement procedure when the loaded coil 10 is placed as shown in FIG.

When the coil 10 is carried in, the lateral traveling body 20
Starts traveling in the X direction from the position of X = 0, and the distance change points a and a 'when S6 and Sn are applied to the side edges of the coil 10.
Is detected. If the X values of a and a 'are Xa and Xa',
The inclination angle θ of the coil 10 is obtained by Expression 1.

[0018]

## EQU1 ## θ = tan ⁻¹ (Xa−Xa ′) / 250 (6-n)

Measurement distances (Z) based on Sm-1 to S6 to Sn
Value) is monitored and Sm-
It is detected that 1 to S6 to Sn have come. When Sm-1 to S6 to Sn come to the center of the coil 10, the traveling of the lateral traveling body 20 is stopped, and it is reciprocated 250 mm in the Y direction. On the way, the Y value due to Sm and Sn changes. Assuming that the Y values at the change point are Ym and Yn, the length L of the coil 10 in the central axis direction can be obtained by Expression 2.

[0020]

L = {250 (mn) + (Ym-Yn)} cos θ

After the traverse (reciprocation) of the lateral traveling body 20 is completed, the lateral traveling body 20 starts traveling again. The distance change points b and b 'when Sm-1 and S6 move away from the side edge of the coil 10 are detected. Assuming that the X values of b and b 'are Xb and Xb', the outer diameter D of the coil 10 can be obtained by Expression 3.

[0022]

D = (Xb−Xb ′) cos θ

Assuming that the maximum value of the Z value while Sm-1 to S6 to Sn pass over the coil 10 is Zmax, the center coordinate of the coil 10 on the n side is obtained by Equation 4, and the center coordinate of the m side is expressed by Equation 4. Determined by 5.

[0024]

X = Xa '+ 1 / 2D Y = 250 (6-n) + Yn Z = Zmax-1 / 2D

[0025]

X = Xb '+ 1 / 2D Y = 250 (6-m) + Ym Z = Zmax-1 / 2D

FIG. 4 shows how the loaded coil 10 is placed.
Similarly, in the case of (B), the inclination angle θ of the coil 10 is obtained by Expression 1. Further, the outer diameter D of the coil 10 is obtained by Expression 6, and the length L in the central axis direction is obtained by Expression 7.

[0027]

D = {250 (mn) + (Ym-Yn)} cos θ

[0028]

L = (Xb−Xb ′) cos θ

The center coordinates on the n-side of the coil 10 are obtained by Expression 8, and the center coordinates on the m-side are obtained by Expression 9.

[0030]

X = Xa Y = １ ／ · ｛250 (6-n) + Yn + 250 (6-
m) + Ym + (X−Xa)｝ tan θ Z = Zmax−１ ／ D

[0031]

X = Xb Y = 1/2 ｛250 (6-n) + Yn + 250 (6-
m) + Ym− (Xb−X)｝ tan θ Z = Zmax−1 / 2D

FIG. 4 shows how the loaded coil 10 is placed.
In the case of (C), first, the lateral traveling body 20 is caused to travel in the X direction, and Sm-1 to S6 to Sn are positioned near the center of the coil 10, where they are reciprocated in the Y direction to produce Ym and Yn. Is measured. Then, the lateral traveling body 20 is moved in the Y direction by the distance shown in Expression 10.

[0033]

｛250 (6-n) + Yn + 250 (m-1)
−6) + (250−Ym)｝

With this movement, S6 is positioned on the X-ray passing through the center of the coil 10. Then, the lateral traveling body 20 is made to travel once in the reverse direction and then in the forward direction, and the X value at the point a (Xa) and the X value at the point b (Xb) are measured by S6. The outer diameter D of the coil 10 is obtained by Expression 11, and the center coordinate is obtained by Expression 12.

[0035]

D = Xb-Xa

[0036]

X = １ ／ · (Xa + Xb) Y = ｛250 (6-n) + Yn + 250 (m−1−6)
+ (250−Ym)｝ Z = Zmax

As for the length L of the coil 10 in the direction of the central axis, when the coils 10 are stacked in one layer, (Zmax-the bogie 1
1 floor height). In the case of two-stage stacking, if there is a deviation between the upper coil 10 and the lower coil 10, the height of the upper surface of the lower coil 10 can be measured. Therefore, the length L of the coil 10 is (the upper coil 10
Height)-(top surface height of lower coil 10).

As described above, in the present coil position detecting device, the laser rangefinder 30 is not swung, and the traverse amount is small (in the above embodiment, 250 mm corresponding to the pitch of the light projecting portions P1 to P11). Thus, the position of the coil 10 can be accurately measured. Therefore, the vibration is small and the time required for the measurement can be reduced. Further, scanning in the Y direction can be performed with high accuracy without increasing the number of light projecting units.

[0039]

As described above, in the case of the coil position measuring apparatus according to the present invention, scanning required for coil position measurement is performed with relatively little laser light, and the scanning is performed linearly to swing. Absent. Therefore, the device is simplified. Also, by not swinging, the vibration is reduced and the life of the laser distance meter is extended. Further, the effect that the scanning distance is short and the time required for measurement is shortened is also obtained.

[Brief description of the drawings]

FIG. 1 is a front view showing the structure of an example of a coil position measuring device embodying the present invention.

FIG. 2 is a side view of the coil position measuring device.

FIG. 3 is a plan view of the coil position measuring device.

FIG. 4 is a plan view for explaining a coil position measuring procedure using the coil position measuring device.

FIG. 5 is a schematic diagram showing an outline of coil position measurement using a laser.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Coil 20 Lateral traveling body 30 Laser distance meter P1 to P11 Light emitting part S1 to S11 Laser spot M1, M2 Light receiving part

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-63-65308 (JP, A) JP-A-3-162395 (JP, A) JP-T-62-502703 (JP, A) Jpn. 18477 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) B66C 13/22, 13/46 G01B 11/00, 11/04, 11/24

Claims (2)

(57) [Claims] 1. A coil position measuring device for measuring a position of a coil placed in a coil yard by using a laser, wherein laser light is emitted from a plurality of light emitting units arranged in parallel directly below each other. And a laser range finder that receives the reflected light of the laser beam from the light receiving unit and measures the distance to each reflection point. While traversing, the horizontal traveling body traveling in a direction perpendicular to the parallel direction of the light projecting unit, and corresponding to the moving position of the lateral traveling body, input the distance to each reflection point measured by the laser range finder. And a calculator for performing calculations necessary for measuring the coil position. 2. The coil position measurement according to claim 1, wherein the laser range finder is a two-dimensional range finder that collectively receives reflected lights from a plurality of reflection points and measures a distance to each reflection point. apparatus.