JP3195223B2 - Transfer control 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 transfer control device for transferring a steel material or the like to a predetermined position, and more particularly to a transfer control device capable of positioning with high accuracy.

[0002]

2. Description of the Related Art Generally, in controlling the conveyance of a steel material, the steel material is placed on a conveyance table on which rollers are arranged at a predetermined pitch by utilizing a frictional force at a contact surface between the roller and the steel material. , The steel material moves on the roller with the rotation of the roller, and is conveyed to a predetermined position.

[0003] As a method of detecting the current position of a steel material, generally, a radiation light type photoelectric switch (H) for directly detecting infrared energy radiated from a glowed steel material is used.
MD) Alternatively, several detectors such as a transmission type photoelectric switch (CMD) composed of a light emitter and a light receiver are installed beside the line of the transfer table, thereby detecting the front end or the tail end of the steel material to detect the steel material. The absolute position is measured, and the position of the steel material therefrom is detected by a signal from the detector as a trigger, and the rotation speed of a roller for conveying the steel material is detected by a rotation detector such as a rotary pulse generator (PLG). Absolute position of steel based on
The current position of the steel material is calculated based on the rotation speed of the rotation detector.

[0004] Based on the measured current position of the steel material, speed control and deceleration stop control of each roller are performed in accordance with the measured current position to convey the steel material to a predetermined position. In particular, in the deceleration stop control, a deceleration start point is obtained from the current position of the steel material, the transport speed, and the deceleration rate at the time of deceleration to start deceleration, and a steel detector is arranged immediately before the stop position to guarantee stop accuracy. An error between the actual steel position generated during the transfer and deceleration process and the current position measured by the transfer control device is corrected when the steel material is detected by the steel detector such as the HMD or the CMD, and deceleration is stopped.

When the steel material is stopped at a predetermined position by automatic control, the rotation of the roller is controlled to be stopped while balancing the frictional force at the contact surface between the roller and the steel material and the rotational force of the roller. The stop position of the steel material is controlled. That is, when the rotation of the roller during the transfer of the steel material is stopped, the actual speed of the steel material follows the rotation speed of the roller as shown in FIG. 4 because the inertia force acts on the steel material. That is, when the stop control of the roller is ended at the time T, that is, when the transmission of the rotational force to the roller is stopped, the frictional force that the roller receives from the steel material acts against the braking force of the rotation of the roller. For,
When the roller is rotated by the frictional force from the steel material and the steel material moves, or when the frictional coefficient between the steel material and the roller is small and the braking force is large, the braking force is too strong and the steel material and the roller The phenomenon that the steel material "slids" occurs between the two. It is known that the flow amount or the slip amount, which is the amount of movement of the steel material due to these phenomena, changes according to the frictional force and therefore changes depending on the shape and weight of the steel material.

For this reason, for a steel type having a large flow rate or a large amount of slip, the transport speed is reduced to transport the steel material slowly,
Alternatively, a method in which the braking force is reduced by reducing the deceleration rate during deceleration, or several stop control patterns having different transport speeds and deceleration rates according to the shape and weight of the steel material are set in advance and transported. An appropriate stop control pattern is selected according to the shape and weight of the steel material to be made, and the rotation of the roller is stopped according to a method of performing the stop control of the roller in accordance with the pattern, thereby stopping the steel material at a predetermined position. Like that.

[0007] Further, after the roller stop control is completed, that is, after the transmission of the rotational force to the roller is completed, a braking operation for stopping the rotation of the roller is performed to reduce the flow amount of the steel material, or the steel material is restrained. There is also a method of controlling the stop position of a steel material by a method of providing a stopper facility for performing the positioning and the like.

[0008]

However, for example, when a plurality of stop control patterns are provided and the stop control patterns are set in accordance with the steel material to be transferred, the memory area of the transfer control device is limited. It is impossible to set a stop control pattern corresponding to all of various steel materials. Even when the memory area is enlarged and a stop control pattern corresponding to various steel materials can be set, there is a problem that setting the stop control pattern corresponding to each steel material is troublesome.

If a stop control pattern suitable for each steel material cannot be set, the vehicle will not stop at a predetermined stop position. In this case, the operator adjusts the amount of correction of the stop position according to the steel material. There is a problem that it is necessary to input the data to the apparatus or to manually perform the alignment, and it is not possible to realize automatic control of the transport line.

Further, when the conveying speed of the steel material or the acceleration rate or deceleration rate during acceleration / deceleration is set low in order to reduce the amount of flow or slippage of the steel material, the time required for acceleration control or stop control becomes long. Therefore, there is also a problem that the operation efficiency is reduced by performing the automatic control.

Further, when the brake operation is performed on the roller after the rotation control of the roller is completed, the flow amount of the steel material can be reduced, but the frictional force between the steel material and the roller can be balanced. If the braking force of the rotation of the roller is large enough to eliminate the roller, the steel material slips even if the roller stops. In addition, in the method of providing a stopper device for restraining a steel material, when the steel material is to be stopped at an arbitrary position, a large-scale device capable of moving the stopper device accordingly is required. However, the size of the equipment becomes very large in terms of the space of the equipment, the cost of the transport equipment, and the like.

When there is a slip between the transfer equipment such as rollers of the transfer table and the steel material, the actual steel position and the steel material measured and recognized by the transfer control device based on the detection information from various sensors. There is a problem in that an error occurs between the stop position and the stop position accuracy.

Further, in order to improve the detection accuracy for position detection, or when the stop position differs depending on the steel material to be conveyed, a method of providing a plurality of detectors may be considered. Is complicated, and it is not preferable in terms of the arrangement position of the detector, etc.
When other operating equipment is operated near the stop position,
There is also a problem that the detector cannot be arranged at an appropriate position and an accurate position cannot be detected.

[0014] The detector of the HMD, CMD, etc.,
As shown in FIG. 21, when the shape of the leading end of the steel material is unsteady, such as a fishtail shape or a tongue shape, the influence of the occupation ratio of the steel material on the visual field or the temperature of the steel material is strongly increased. An error occurs between the timing of detecting the leading end and the actual passing timing of the leading end, and the accurate passing timing of the leading end cannot be detected, and deceleration stop control is performed based on the passing timing. Therefore, there is also a problem that the stopping accuracy is reduced. Similarly, H
In the case of a hot material detector such as an MD, there is a problem that an error occurs in the detection timing of the leading and trailing ends depending on the temperature of the steel material, and accordingly, the stopping accuracy is reduced.

[0015] Since the accuracy of the stop position of the steel material is reduced, for example, when cutting the unsteady portion of a steel material having an unsteady front and rear end, there is an error in the stop position. There is a problem in that the portions vary, so that the cutting is performed more than necessary or the unsteady portion cannot be reliably cut. In the next step, when rolling is performed by a mill or the like, the biting property of the mill may be deteriorated.

The present invention has been made in view of the above-mentioned conventional problems, and has as its object to provide a transport control device capable of stopping a steel material at a predetermined position with high accuracy.

[0017]

According to a first aspect of the present invention, there is provided a transfer control apparatus for driving a transfer table based on a current position of a transfer object placed on the transfer table. A moving amount of the transported object after stopping the driving of the transport table, wherein the transport controller stops driving the transport table when the transported object reaches a predetermined position and stops the transported object. Moving amount estimating means for estimating from the weight per unit length and the total weight of the conveyed object, and correcting the target stop position of the conveyed object to a position in front of the moving amount estimated by the moving amount estimating means. And a drive control unit for controlling the drive of the transport table based on the target stop position corrected by the corrector and the current position of the conveyed object.

Further, according to a second aspect of the present invention, there is provided a transport control device, wherein: a photographing means for two-dimensionally photographing a predetermined passing point of the conveyed object; And a position estimating means for estimating a current position of the conveyed object based on a shift amount in an image taken by the photographing means and an actual position of the reference point.

Further, according to a third aspect of the present invention, in the transport control device, the position estimating means includes a display means for displaying a detection line in correspondence with the reference point in the photographed image, and a predetermined position downstream of the detection line. Auxiliary display means for displaying an auxiliary detection line at intervals of, and, when detecting that the end of the conveyed object has reached the detection line in the photographed image, performs an end detection notification, and performs the end detection. Line detection means for detecting an auxiliary detection line that is present, an estimating means for estimating the current position of the conveyed object based on the interval between the auxiliary detection lines detected by the line detection means, and the actual position of the reference point. The drive control means recognizes the current position estimated by the estimation means at this time when the edge detection notification is issued, as the current position of the conveyed object at the time of the edge detection notification. It is characterized in the thing.

Further, the transport control device according to claim 4 is
The position estimating means is a display means for displaying a detection line in correspondence with the reference point in the photographed image, and when detecting that the end of the conveyed object has reached the detection line in the photographed image. Edge detection means for performing edge detection notification, and detects a shift amount between the end of the conveyed object and the detection line in the captured image, and determines the shift amount and the actual position of the reference point. Estimating means for estimating the current position of the conveyed article, and the drive control means, when the edge detection notification is issued, the current position estimated by the estimating means at this time, the The present invention is characterized in that it is recognized as the current position of the conveyed object at the time of the end detection notification.

Therefore, in the transfer control device according to the first aspect, for example, the kinetic energy of the transferred object when the driving of the transfer table is stopped is obtained based on the weight per unit length of the transferred object and the layer weight. Thus, the moving amount of the transported object after the driving of the transport table is stopped is estimated. Then, since the target stop position of the conveyed object is corrected to the position in front by the estimated movement amount, the driving control of the conveyance table is performed so as to stop the conveyed object at the corrected target stop position. The drive of the transport table is stopped at a point before the target stop position of the target, and the transported object is stopped at a position further moved by the estimated movement amount from the position at this time, and finally, the true position is reached. Stop at the target stop position of.

Further, in the transfer control device according to the second aspect,
The state when the conveyed object passes through the predetermined passing point is photographed, and a deviation amount between a preset reference point and an end of the conveyed object in the photographed image is detected, and the deviation amount and the reference point are detected. The current position of the conveyed object is estimated from the actual position of the object. Since this current position is a position based on an actual photographed image, it is determined as a value that does not include an error factor such as slippage between the transported object and the transport table. Therefore, for example, the drive control of the transport table is performed based on the more accurate current position by photographing the target stop position of the conveyed product and the vicinity thereof, so that the conveyed product stops at the target stop position with higher accuracy.

According to a third aspect of the present invention, there is provided a transfer control device comprising:
For example, when a predetermined process is performed by the drive control means when the conveyed object reaches a predetermined position, if the predetermined position is set as a reference point and the vicinity of the reference point is photographed, a photographed image can be obtained. The detection lines are displayed corresponding to the reference points in the, and a plurality of auxiliary detection lines are displayed downstream of the detection lines. At this time, if a plurality of auxiliary detection lines are set between a position separated from the detection line by a distance that the conveyed object moves within the captured image during the update period of the captured image and the detection line, When it is detected that the end of the conveyed object has reached the detection line, the auxiliary detection line at which the end has reached is detected, and the current position of the end is estimated based on this. The current position that does not include the error due to the update cycle of the current position is detected. And
In the drive control unit, when the end detection notification is performed, the predetermined process is started based on the current position that does not include the error associated with the update cycle detected as described above, thereby achieving higher accuracy. Processing is performed.

Further, in the transport control device according to the fourth aspect, for example, when the drive control means performs a predetermined process when the transported object reaches a predetermined position, the predetermined position is set as a reference point. If the vicinity of the reference point is photographed, a detection line is displayed corresponding to the reference point in the photographed image, and a shift amount in the photographed image between the detection line and the end is detected. Then, the current position of the end portion is estimated based on the shift amount and the reference point, that is, the position information of the predetermined position. At this time, the shift amount is continuously detected. Becomes Then, the drive control means determines the current position that does not include the error factor detected as described above when the edge detection notification is performed, and the current position of the conveyed object when the edge detection notification is performed. By starting the predetermined processing as, more accurate processing is performed.

[0025]

Embodiments of the present invention will be described below. FIG. 1 shows the transfer control device according to the first embodiment of the present invention applied to a transfer control line for transferring a steel material. This transport control line is designed to cut the unsteady portions at both ends of the steel material after rolling in the breakdown mill of the shaped steel plant with a tongue cut saw, so that the unsteady portion of the steel material is located at the cutting position of the tongue cut saw. To be transported.

FIG. 1 is a schematic configuration diagram showing the equipment configuration of the transport control line 100, and FIG.
Is shown in a block diagram. In the figure, 1
Is a steel material as a conveyed material rolled by the breakdown mill 3, and the steel material 1 rolled by the breakdown mill 3 is placed on the conveyance table 4. The transport table 4 is formed by a plurality of rollers 5 arranged at predetermined intervals, and a motor 6 provided for each roller 5 rotates in response to a drive signal from a motor driver 7, so that the roller 5 and the steel material 1 are rotated. The steel material 1 is conveyed in accordance with the rotation of the roller 5 by the frictional force between the steel material 1 and the roller 5.

Here, the motor driver 7 is, for example, 10
A plurality of motors 6 are controlled simultaneously, and a plurality of motor drivers 7 are provided according to the number of motors 6 constituting the transfer table 4.

A tongue cut saw 8 for cutting an unsteady portion of the steel material 1 is disposed at an appropriate position on the transfer table 4 so that the blade of the tongue cut saw 8 is perpendicular to the longitudinal direction of the transfer table 4. Are located. A radiation-type photoelectric switch (HMD) for directly detecting infrared energy radiated from the red-heated steel material 1 is provided on the side of the stop position of the leading end or the tail end of the steel material 1 on the transfer table 4 and at an appropriate position on the transfer table 4. Alternatively, an end detector 9 such as a transmission type photoelectric switch (CMD) including a light emitter and a light receiver.
Are arranged, and a rotation detector 10 such as a rotary pulse generator (PLG) is attached to the roller 5, and detection information of these detectors 9 and 10 is input to the control device 11. Has become.

The control device 11 is composed of, for example, a microcomputer or the like, and receives detection information from each of the detectors 9 and 10 and receives, for example, detection information from each of the end detectors 9. By counting the number of pulses from the rotation detector 10 and the like, the current position of the foremost part of the steel material 1 is sequentially measured, and the correction amount ω from the correction amount setting device (movement amount estimating means) 12 is input. The preset target stop position Q of the steel material 1 is corrected based on the input correction amount ω (correction means). Then, the steel 1 is stopped at the target stop position Q 'based on the corrected target stop position Q' and the current position of the steel 1 measured based on the detection information from the detectors 9 and 10. The rotation speed of the roller 5
Alternatively, a process for calculating an acceleration / deceleration rate or the like is performed, and a rotation control signal for controlling the rotation speed of the roller 5 is formed based on this, and is output to the motor driver 7 (drive control means).

The correction amount setting device 12 is constituted by a microcomputer having at least an input device such as a keyboard and a storage device. Based on the following equation (1), the correction amount setting device 12 sets the relative error between the steel material and its stop error, that is, the flow amount (movement amount) Y, for various types of steel materials having different total weights M and lengths L. A one-dimensional model formula in which the relationship is one-dimensionally modeled is stored, and a correction amount ω is calculated from the one-dimensional model formula based on the total weight M and the length L of the steel material 1 input from a keyboard or the like. Output to the control device 11.

Y∝M × ((M / L) × M) ² (1) The one-dimensional model equation (1) is calculated as follows. When stop control for stopping the roller 5 is performed by the rotation speed control of the roller 5 by the control device 11,
After the stop control is completed, that is, when the output of the drive signal from the motor driver 7 to the roller 5 is stopped and the rotational driving force is no longer transmitted from the motor 6 to the roller 5, depending on the steel material 1 to be conveyed, 1 or the frictional force between the steel material 1 and the roller 5, the steel material 1
May move further without stopping, and may stop at a position further advanced from the position of the steel material 1 when the stop control of the roller 5 is completed. The difference between the position of the steel material 1 after the completion of the stop control and the position where the steel material 1 actually stops is the flow amount, that is, the stop error.

This flow rate depends on the kinetic energy of the steel material 1 at the time of completion of the stop control, and can be estimated to be related to the unit weight M / L, the length L, the total weight M, etc. of the steel material 1. it can. FIG. 3 shows the measurement of the error of the stop position due to the change in the weight of the steel material in the H-section steel. From FIG. 3, it can be seen that even if the weight is the same, if the steel type (web height and flange width) of the steel material is different, the contact length between the steel material and the roller 5 changes, so that the stop position error, that is, the flow amount is different. I understand.

Further, as shown in FIG.
During stop control rotation control for stopping the rotation of the motor 6 is performed, the actual speed V _R of the steel material are present control delay with respect to the speed reference V _M by. This is caused by roller 5
Roller 5 by the inertia force of steel material 1 against the braking force acting on
Flow due to the rotation of the steel material 1 or the roller 5
This is due to slippage due to the fact that the frictional force is larger than the braking force acting on the roller 5, and as a result, even after the time T when the control device 11 determines that the stop control has been completed, the steel material 1 has a certain speed. Is moving in.

The kinetic energy E at this time is proportional to the product of the square of the speed V of the steel 1 at the time T and the mass M of the steel 1. Here, the frictional force that the roller 5 receives from the steel material 1 and, consequently, the rotational inertia force depend on the load per roller of the transfer table 4 and the load due to the contact between the steel material 1 and the plurality of rollers 5. It is estimated that there is
The flow rate Y was modeled by L and the total weight M. That is,
The kinetic energy E of the steel material 1 after the completion of the stop control can be expressed by the following equation (2).

E∝M × V ² (2) Further, the speed V of the steel material 1 when the stop control is completed is expressed by the following equation (3).
And (4).

V∝M / L (3) V∝M (4) Therefore, the above equation (2) can be expressed as the following equation (5).

E∝M × ((M / L) × M) ² (5) Kinetic energy E and flow rate Y of steel 1 after completion of stop control
Can be considered to be proportional, so that the flow Y of the steel material can be expressed as proportional to the product of the square of the product of the unit weight M / L and the total weight M and the total weight M as in the above equation (1). it can.

Therefore, by modeling the flow rate of the steel material after the stop control is completed using the right side of the above equation (1) as the parameter P (M, L), the flow rate Y of the various types of steel material is obtained.
Can be represented by a one-dimensional model.

Next, the flow rate was determined using a plurality of steel materials having different total weights M and lengths L, and the relative relationship between the steel materials and the stop position was determined. As a result, the parameter P (M,
According to the size of L), three patterns could be modeled. That is, in the case of an ultra-light material, there is no flow amount, and in the case of a lightweight material (M × ((M / L) × M) ² ≦ 800), the flow amount is the same as the one-dimensional model shown in FIG. Flow amount and heavy material (M × ((M / L) × M) ² > 800)
In the case of (1), the flow rate could be represented as a flow rate according to the one-dimensional model shown in FIG. The reason why the one-dimensional model differs between the lightweight material and the heavy material is that the stop control method for the roller 5 is different between the lightweight material and the heavy material.

Next, the operation of the first embodiment will be described. As shown in FIG. 1, a steel material 1 rolled by a breakdown mill 3 of a steel shape factory is transported to a predetermined position by a transport table 4, and an unsteady portion of the steel material 1 is tongue-cut saw 8
There is a transport control line 100 that performs automatic cutting according to the conditions.

First, as described above, the operator converts the relationship between the steel material and the flow rate, that is, the stop error, into a one-dimensional model in advance to form a one-dimensional model formula, and stores it in the correction amount setting device 12. deep. For example, as described above, the patterns are classified into three patterns according to the parameters P (M, L), and the flow amount is zero for the ultra-light material, and FIG.
The one-dimensional model equation shown in FIG. 5 and the one-dimensional model equation shown in FIG.

Then, the total weight M and the length L of the steel material 1 to be conveyed are input from an input device such as a keyboard in the correction amount setting device 12. The correction amount setting device 12 obtains a parameter P (M, L) from the input total weight M and length L, and in accordance therewith, obtains a flow amount Y based on a corresponding one-dimensional model formula, and corrects the flow amount Y. The value is output to the control device 11 as the amount ω.

The control device 11 sets a preset target stop position Q of the steel material 1 based on the input correction amount ω.
Is updated by the correction value. That is, in FIG. 1, assuming that the steel material 1 is transported from the left to the right in FIG. 1, the target stop position Q is set to a position shifted to the left by the correction value,
Thereafter, the rotation of the roller 5 is controlled so as to stop the steel material 1 at the corrected target stop position Q '.

That is, when the rotation of the roller 5 is controlled, the current position of the tip of the steel material 1 is obtained based on the detection information from the detectors 9 and 10, and the current position and the target stop after correction are determined. Based on the position Q ′, the rotation speed or the increase / decrease acceleration rate of the roller 5 is determined, and based on this, a rotation control signal for controlling the rotation speed of the roller 5 is formed, and this is output to the motor driver 7. .

The motor driver 7 outputs a drive signal to the motor 6 according to the rotation control signal. The roller 5 rotates at a predetermined rotation speed in response to the drive signal, and the steel material 1 is conveyed. When the steel material 1 reaches the predetermined position, that is, the target stop position Q, the output of the drive signal to the roller 5 is stopped, and the rotation control is ended.

As a result, the rotational driving force from the motor 6 is not transmitted to the roller 5, but the rotational driving force to the roller 5 is caused by the inertia force of the steel 1 or the slip between the roller 5 and the steel 1. Steel material 1 even after the transmission of
Moves. Since the movement amount, that is, the flow amount is estimated in advance, the target stop position Q is corrected by the estimated flow amount, and rotation control is performed based on the corrected target stop position Q ′. The position where 1 stops is the target stop position Q, and stops at the position where the unsteady portion of the steel material 1 faces the saw 8a position of the tongue cut saw 8.

Therefore, in order to automatically cut the unsteady portion of the steel material 1 with the tongue cut saw 8, the stop position control of the steel material 1 must be performed with an accuracy of about 20 mm with respect to the shape and size of the tongue. When the rotation control process is performed based on the target stop position Q ′ corrected by the correction amount ω obtained by the one-dimensional model as described above, the unsteady portion of the steel material 1 is stopped at a position facing the tongue cut saw 8 with high accuracy. In this example, it was confirmed that the stopping accuracy, that is, the variation was 1σ15 mm.

Therefore, the stopping accuracy is conventionally 500 mm
Was able to be improved to about 15 mm, so that there is no need for the operator to make fine adjustments or the like by hand or the like as in the prior art, so that the transfer line can be fully automated and the rolling efficiency can be reduced. Can be improved.

If a one-dimensional model formula is created in advance, the flow amount can be easily estimated in accordance with the total weight M and the length L of the steel material to be conveyed. Since it is only necessary to perform correction, there is no need to provide several transport stop control patterns as in the related art or to newly provide equipment such as a stopper. The steel material 1 can be easily and reliably stopped at a predetermined position without changing the parameters, and the steel material 1 can be stopped regardless of the specifications of the steel material.

Further, since stop positioning can be performed with high accuracy only by correcting the target stop position Q based on the estimated flow amount without performing processing such as lowering the transport speed, the stop control is required. The processing time does not become longer, and the processing efficiency can be realized with the same processing efficiency as before without lowering the operation efficiency.

In the first embodiment, the case where three one-dimensional models are set has been described. However, the present invention is not limited to this case. One-dimensional models are set as needed, and the correction amount ω is set based on this. It is also possible to ask for it.

Next, a transport control device according to a second embodiment of the present invention will be described. In the second embodiment, as shown in FIG. 6, a saw 8a of a tongue cut saw 8 above the transport table 4 and orthogonal to the transport table 4 is provided on the transport control line 100 in the first embodiment.
Image processing camera 15 (photographing means) near the cutting line due to
Is provided, the vicinity of the stop position including the cutting line is photographed, and stop control is performed by the control device 11 based on the image of the image processing camera 15. As shown in FIG. 6, the equipment configuration is the same as that of the first embodiment except that an image processing camera 15 is provided, and therefore detailed description thereof is omitted.

The image processing camera 15 is, for example, a two-dimensional camera, and is located at a position orthogonal to the transport table 4 above the transport table 4 and has a tongue-and-sew 8.
When the cutting line is set as the reference position (reference point) of the equipment, the reference position of the equipment is located at the center in the captured image, and furthermore, at a position where the range of 2 m upstream and 1 m downstream of the transport table 4 can be photographed. It is arranged.

FIG. 7 is a block diagram of a control system of the transport control line 100 according to the second embodiment. In the block diagram of the control system according to the first embodiment shown in FIG. This is the same except that an image processing device 16 for performing a predetermined process on the video signal from the image processing camera 15 is added.

The image processing device 16 is composed of a personal computer having a display device such as a CRT display and input devices such as a keyboard and a mouse.
Then, in the image processing device 16, the image processing camera 15
The image captured by the image processing camera 15 is displayed based on the video signal from the camera. FIG. 8 is an example of a photographed image,
As shown in FIG. 8, a photographed image in which the reference position of the equipment, that is, the cutting line by the tongue cut saw 8 is located at the center of the screen is displayed.

Further, the image processing device 16 obtains a difference (shift amount) between the foremost portion of the steel material 1 and the center of the screen, that is, the reference position of the equipment, in the photographed image, and calculates the actual steel material from the difference. Then, the difference between the position of the tip of 1 and the cutting line of the tongue cut saw 8 is determined. Then, as shown in FIG. 9, a negative value is set when the leading end of the steel material 1 is located on the left side of the cutting line of the tongue cut saw 8, and a positive value is set when located on the right side. An error signal is generated and output to the control device 11.

This is because, for example, a luminance that can be regarded as steel material 1 on the screen is set in advance as a steel material luminance.
In the displayed captured image, a portion composed of pixel data corresponding to the steel material luminance is regarded as an image of the steel material 1, and the leading edge of the pixel having the pixel data of the steel material luminance is searched. For example, in FIG. 8, the rightmost pixel among the pixels having the steel material luminance is searched by searching pixel data in order from downstream to upstream, that is, from right to left, and this is the foremost part of the steel material 1. I assume it. Then, based on the number of pixels between the pixel at the center of the captured image and the pixel at the searched foremost part, the distance between the actual foremost part of the steel material 1 and the cutting line of the tongue cut saw 8 is obtained, and the error signal is obtained. Output as

The control device 11 counts the number of pulses from the rotation detector 10 based on the detection information from the end detector 9 in the same manner as in the first embodiment, so that the steel material 1 The current position is sequentially measured, and the correction amount ω estimated based on the total weight M and the length of the steel material 1 to be conveyed by the correction amount setting device 12 is input, and the target stop position Q ′ is set based on the correction amount ω. I do. And each detector 9 and 10
Based on the current position of the steel 1 measured based on the detection information from the CPU 1 or the current position of the steel 1 measured based on the error signal from the image processing device 16 and the target stop position Q ′. Roller 5 for stopping the roller at the target stop position Q '.
A rotation control process for calculating the rotation speed or the deceleration rate of the roller 5 is performed, and based on this, a rotation control signal for controlling the rotation speed of the roller 5 is formed, and this is output to the motor driver 7.

Next, the operation of the second embodiment will be described. As shown in FIG. 6, there is a transport control line 100 that transports the steel material 1 after being rolled by the breakdown mill 3 to a predetermined position by the transport table 4 and automatically cuts an unsteady portion of the steel material 1 by the tongue cut saw 8.

First, the operator operates the correction amount setting device 12 to input the total weight M and the length L of the steel material 1 to be conveyed in the same manner as in the first embodiment. by this,
The correction amount setting device 12 calculates a correction amount ω based on the input total weight M and the length L, and calculates the correction amount ω.
Output to

The controller 11 updates the preset target stop position Q by the correction value based on the input correction amount ω to obtain the target stop position Q '. Then, the current position of the steel material 1 is determined based on the detection information from the detectors 9 and 10, and a rotation control signal for the roller 5 is formed based on the current position and the corrected target stop position Q '. ,
This is output to the motor driver 7. Motor driver 7
Outputs a drive signal to the motor 6 in accordance with the rotation control signal, and the roller 5 rotates at a predetermined rotation speed in accordance with the drive signal to convey the steel material 1.

The rotation of the roller 5 is controlled so that the steel 1
Is within the shooting range of the image processing camera 15, that is, a position within 2 meters upstream from the cutting line of the tongue cut saw 8, the steel material 1 is imaged by the image processing camera 15. The image processing device 16 displays the photographed image based on the input video signal,
When it comes to a position within 2 m upstream from the cutting line, the steel material 1 is displayed in the captured image.

At this time, the image processing device 6 specifies the leading edge of the steel material 1 by searching the captured image for pixels having pixel data corresponding to the preset steel material luminance from the downstream to the upstream, and the like. Based on the difference between the specified leading edge and the center of the photographed image, the difference between the actual material position of the leading edge of the steel material 1 and the reference position of the equipment, that is, the cutting line of the tongue cut saw 8, is determined. Control device 1 as signal
Output to 1. At this time, when the steel material 1 is located upstream of the reference position of the equipment, a negative error signal is output.

When the controller 11 receives the error signal,
Instead of the detection information from the detectors 9 and 10, the current position of the steel material 1 is obtained from the error signal and the position information of the reference position of the equipment (position estimating means). , A rotation control signal for the roller 5 is formed.

Then, the image processing device 16 sequentially calculates the difference between the reference position of the equipment and the position of the foremost portion of the steel material 1 based on the input video signal and outputs it as an error signal. The current position of the steel material 1 is determined based on the error signal, and a rotation control signal of the roller 5 is formed based on the current position. Then, when the steel material 1 has been transported to the predetermined position, the rotation control ends.

Therefore, the steel material 1 is used for the camera 1 for image processing.
5, that is, when the steel 1 is near the target stop position, the rotation control is performed based on the current position of the steel 1 based on the image captured by the image processing camera 15. Even if the current position of the steel material 1 estimated based on the number of rotations of the roller 5 is different from the actual current position of the steel material 1,
A current position that does not include an error due to these error factors can be detected.

Therefore, the same operation and effect as those of the first embodiment can be obtained, and by controlling the rotation of the roller 5 based on the more accurate current position, the steel material 1 can be more precisely determined. Can be stopped at the position.

FIG. 10 is a graph showing the relative relationship between the material weight and the stop position error when steel materials 1 having different material weights are conveyed. FIG. 11 shows the material weight and the stop position according to the conventional method. It is a graph showing the relative relationship with an error. As shown in FIG. 11, the end detector 9 is disposed immediately before the stop position as in the related art, and based on the detection information from the rotation detector 10 from the time when the end detector 9 detects the tip. When the current position of the steel material 1 is detected, when a slip or flow occurs between the steel material 1 and the roller 5, the actual position of the steel material 1 and the steel material 1 recognized by the control device 11 are detected. A measurement error is included between the positions of the steel material 1 and the position of the steel material 1. However, by measuring the current position of the steel material 1 on the basis of the photographed image, it is possible to eliminate these factors that deteriorate the stop accuracy. As a result, it was confirmed that the stop accuracy can be improved from about 500 mm to about 15 mm.

In the case where the leading end and the trailing end of the steel material 1 are stopped, it has conventionally been necessary to provide detectors for the leading end and the trailing end. Stop position control with high position accuracy can be performed.

Further, since the stop position control can be performed with high precision regardless of the occurrence of slippage or flow of the steel material 1, it is possible to increase the transfer speed or the deceleration rate, thereby improving the efficiency of operation. it can.

In the second embodiment, the steel 1
The case where the leading end of the steel material 1 is conveyed to a predetermined position has been described. However, the present invention is not limited to this, and the present invention can be applied to the case where the tail end of the steel material 1 is conveyed to a predetermined position. From the time when the tail end of the steel 1 is detected, the image processing device 16 calculates the difference between the tail end of the steel 1 and the reference position of the equipment, and measures the current position of the steel 1 based on the error signal. I just need. Further, the present invention is not limited to the front end or the tail end, and can be applied to a case where an arbitrary position of the steel material 1 is transported to a predetermined position.

Further, in the second embodiment, the case where the reference position of the equipment is the cutting line of the tongue cut saw 8 has been described. However, the present invention is not limited to this and can be set arbitrarily.

Further, in the second embodiment, the image processing camera 15 is used to move the camera 2 upstream from the reference position of the equipment.
m, a case including a position including a range of 1 m downstream is described. However, the present invention is not limited to this and can be set arbitrarily, and an arbitrary range can be set according to the situation, such as a target stop position or a transport speed. Can be taken.

Further, in the second embodiment, when the steel material 1 is located within the field of view of the image processing camera 15, the detection information from the detectors 9 and 10 is not used. As described above, by detecting the number of rotations of the roller 5 together, it can be used for stop control without slip, measurement of a slip amount, and the like, and can also be used for measurement of a transport speed.

Next, a third embodiment of the present invention will be described. The equipment configuration and the control system of the transfer control line to which the transfer control device according to the third embodiment is applied are the same as the equipment configuration and the control system of the second embodiment shown in FIGS. 6 and 7. Detailed description is omitted.

The image processing camera 15 according to the third embodiment is a two-dimensional camera, and as shown in FIG.
The field of view is 1700 mm, and the detection resolution is set to about 2 mm. And this image processing camera 15
The image signal of the image processing camera 15 is supplied to the image processing device 16 at a position 5000 mm upstream from the cutting line of the tongue cut saw 8 and above the transfer table 4 at right angles to the transfer table 4.

In the image processing device 16 according to the third embodiment, a detection line L can be set at a predetermined position in a photographed image by, for example, setting with an input device (display means). This detection line L is set to have a width of at least one pixel column or more or one pixel row or more. Similarly, a plurality of auxiliary detection lines can be set (auxiliary display means).
As shown in FIG. 13, the detection line L is set, for example, at a position 5000 mm upstream from the cutting line of the tongue cut saw 8 in the field of view of the image processing camera 15 as a stop control start position. A plurality of auxiliary detection lines can be set downstream of the detection line L at intervals of at least one pixel column or one pixel row according to the transport speed of the steel material 1 to be transported. in this case,
Nine auxiliary detection lines L ₁ to L are provided downstream of the detection line L.
₉ are actual dimensions and are set at intervals of 10 mm.

[0078] In the image processing apparatus 16, cutting edge portion E of the steel 1 is whether passed through each detection line L～L _9, looking from the downstream side in the cycle set in advance. In the case of FIG. 13, the search is performed from the right side to the left side of the captured image. And
The control device 1 uses the result as a passing signal (end detection notification).
Output to 1. Bit This passage signal which is formed, for example, 10-bit signal, each bit corresponding to each detection line L～L _9, corresponding to the detection lines leading end E of the steel product 1 is detected to have passed the detection line Is output as a logical value "1", for example, and a bit corresponding to a detection line which is not detected as having passed is detected as a logical value "0" (line detecting means).

When the passing signal is input, the control device 11 searches for a bit set to "1" among the bits of the passing signal, and there is a bit set to "1". In this case, it is assumed that the steel material 1 has reached the stop control start position, and from these bits, which detection line the steel material 1 has passed is specified, and the leading edge of the steel material 1 is determined from the position information of the corresponding detection line. The current position of E is measured (estimating means). Then, the measured current position is set as the position of the steel material 1 at the start of the stop control. Thereafter, for example, the current position based on the detection information of the rotation detector 10 from the measured current position is detected, and the detected current position is determined. A rotation control signal for the roller 5 is formed based on the target stop position Q 'set in the same manner as in the third embodiment, and is output to the motor driver 7.

The motor driver 7 operates according to the rotation control signal as in each of the above embodiments, whereby the roller 5 rotates and the steel material 1 is conveyed accordingly. Next, the operation of the third embodiment will be described.

Now, as shown in FIG. 12, an image processing camera 15 is disposed upstream of the tongue-and-sew 8 and a position corresponding to a position 5000 mm from the cutting line of the tongue-and-sew 8 in the photographed image, for example, The detection line L is set as a position where the stop control is started (see FIG. 1).
3). On the downstream side of the detection line L, 1
Nine auxiliary detection line L ₁ ~L ₉ is set for each 0 mm.

When the transport control line 100 is operated from this state, the image processing device 16 receives a video signal from the image processing camera 15 as shown in the flowchart of FIG. The captured image is displayed based on the signal (step S12). As shown in FIG. 13 in this case the captured image, the detection line L and the auxiliary detection lines L ₁ ~L ₉ is set.

The photographed image is searched from the downstream side of the flow of the steel material 1, that is, from the right side to the left side of the photographed image, and it is searched whether any of the detection lines has passed through the foremost end E of the steel material 1 ( Step S13). Which of the detection lines L to L
If the signal does not pass through ₉ , the signal is set to all bits "0" and output to the control device 11 (step S14).

As shown in the flowchart of FIG. 15, the control device 11 receives a passing signal (step S2).
1) It is searched whether the passing signal is set to all bits “0” (step S22), and the passing signal is set to all bits “0”.
Is set, the current position of the steel material 1 is measured based on the detection information from the detectors 9 and 10 (step S23). Then, as in the above embodiments, the rotation control signal to the roller 5 is determined based on the target stop position Q ′ corrected based on the correction amount ω from the correction amount setting device 12 and the current position of the steel 1. Is output to the motor driver 7 (step S24).

As a result, the motor 6 rotates in response to a drive signal corresponding to the rotation control signal from the motor driver 7, and the roller 5 rotates with the rotation, and the steel material 1 is conveyed. Then, when the steel material 1 is conveyed along with the rotation control of the roller 5 and enters the field of view of the image processing camera 15 as shown in FIG. 13, the steel material 1 is displayed on the photographed image. When but through one of the detection line L～L _9, the image processing apparatus 16, steel 1 detection line L~
From what has been passed through one of L ₉ (step S13), and
The passed detection line is specified (step S15), the bit corresponding to the passed detection line is set to “1”, and a passing signal is transmitted to the control device 11 (step S16).

As a result, in the control device 11, since the passing signal is not all bits "0" (step S2).
2) The detection line corresponding to the bit set to "1" is specified, and the current position of the tip of the steel material 1 is measured from the position information of the detection line (step S25).

Then, the detected current position of the steel material 1 is set as the current position at the start of the stop control, and the stop control for the roller 5 is started based on the current position and the target stop position Q '(step S26). Thereafter, for example, the current position is detected based on the current position at the start of the stop control and the detection information of the rotation detector 10, and a rotation control signal in the stop control is formed based on the target stop position Q '.

For example, when the steel material 1 is located at the position shown in FIG. 13 in the photographed image, the detection line L and the auxiliary detection lines L _{1 to} L ₅ are detected as passing through the steel material. It is measured that the leading end portion E of the steel material 1 is located at a distance of 10 mm × 5 lines between auxiliary detection lines, that is, 50 mm downstream from the corresponding actual position, that is, a position 5000 mm upstream from the cutting line of the tongue cut saw 8, that is, 50 mm. be able to.

Therefore, in the case of the image processing camera 15 composed of a two-dimensional camera, the CCD pixel reading time, that is, the update period of the photographed image, needs several tens msec.
During this time, the steel material 1 is conveyed. Therefore, the probability that the actual position of the steel material coincides with the detection line (the width of one pixel column or more or one pixel row or more) is low at the time of the reading cycle. × When the CCD pixel reading time advances downstream, it will be detected as passing by the detection line,
By setting the auxiliary detection line, the current position of the steel material 1 at the time of passing the detection line L, that is, at the time of starting the stop control, can be measured with higher accuracy.

Therefore, the same operation and effect as those of the first embodiment can be obtained, and the current position of the steel material 1 at the time of starting the stop control can be detected with higher accuracy. The stop position control of the steel material 1 can be performed.

Further, since the position of the foremost end E of the steel material 1 is detected based on the image captured by the image processing camera 15, the field of view and the steel material are different as in the case where the end detector 9 is used. The timing of detecting the forefront portion does not differ depending on the occupation ratio with 1. For example, as in the case of the H-section steel material in FIG. 21, the forefront portion has a tongue shape or a fish tail shape. Even in some cases, the position of the forefront can be reliably detected.

Although the entire field of view of the image processing camera 15 ranges from 2 m to 4 m, the field of view per pixel of the two-dimensional CCD is several mm or less. Compared with this, the detection resolution can be significantly improved, and since the camera is a two-dimensional camera, the detection line L can be set to correspond exactly to actual equipment, so that more accurate position detection can be performed.

As in the second embodiment, the vicinity of the stop position of the steel material 1 near the tongue cut saw 8 is also photographed, and the current position of the vicinity of the stop position is also obtained based on the photographed image. Stop position control can be performed with high accuracy.

Further, in the third embodiment, the case where the timing of starting the stop control for the roller 5 is described. However, the present invention is not limited to this, and may be arbitrarily applied.

Next, a fourth embodiment of the present invention will be described. The equipment configuration and the configuration of the control system in the fourth embodiment are the same as the configuration of the equipment and the control system in the second embodiment shown in FIGS. 6 and 7, and a detailed description thereof will be omitted. I do.

In the fourth embodiment, the image processing camera 15 is a two-dimensional camera, and is located at a position orthogonal to the transport table 4 above the transport table 4 as shown in FIG. It is disposed at a position where the field of view is 3500 mm and the detection resolution is about 4 mm, and the cutting line of the tongue cut saw 8 and a position 2000 mm upstream thereof are disposed at positions within the field of view.

The image processing device 16 displays a photographed image based on the video signal from the image processing camera 15 and displays a detection line L at a predetermined position of the photographed image. ing. This detection line L
Is set to have a width of at least one pixel column or more or one pixel row or more. Also, so as to display the reference line L _M at a position corresponding to the cutting line of the tongue cut 8 in the photographic image.

At the time when the steel material 1 can be regarded as having passed through the set detection line L, the image processing device 16 sets the passing signal (edge detection notification) of, for example, binary to “1”. It is set and output to the control device 11 (end detection means), and based on the difference between the detection line and the foremost portion of the steel material 1, the actual position corresponding to the detection line L and the actual The difference from the position is determined, and based on this, the actual current position of the steel material 1 is measured, and is output to the control device 11 as a position detection signal.

The control device 11 updates the preset target stop position Q based on the correction amount ω inputted from the correction amount setting device 12 and updates the target stop position Q in the same manner as in the second embodiment. The stop position is Q '. In addition, each detector 9
And 10 to measure the current position of the steel material 1 based on the detected information, and form and output a rotation control signal to the roller 5 based on the measured current position and the target stop position Q '. Then, when the passing signal of “1” is received, the steel material 1 is detected based on the input position detection signal and the position information of the reference position of the actual equipment corresponding to the detection line L held in advance. The actual current position is measured (estimating means), and a rotation control signal to the roller 5 is formed based on the measured current position and the target stop position Q ', and is output.

Next, the operation of the fourth embodiment will be described. First, the operator operates the correction amount setting device 12 to obtain the correction amount ω in the same manner as in the second embodiment, and the control device 11 updates the target stop position Q based on the correction amount ω and The stop position Q 'is set.

Next, the operator operates the image processing device 16 to set, for example, as shown in FIG. 17, a position where the stop control for the roller 5 is started, 2,000 mm upstream from the cutting line of the tongue cut saw 8 of the photographed image. A detection line L is set at a corresponding position. Thus, the captured image, the reference line L _M is displayed at the position corresponding to the cutting line of the tongue cut 8, the detection line L is displayed at a position corresponding to the upstream 2000mm from the cutting line of the tongue cut 8.

When the transport control line is operated from this state, the image processing device 16 inputs a video signal from the image processing camera 15 as shown in the flowchart of FIG. The captured image is displayed on the screen (step S32). In this case, the photographed image, the reference line L _M as shown in FIG. 17 detection lines L
Is set.

In the photographed image shown in FIG.
Is transported from left to right. Image processing device 1
In 6, the photographed image is searched from the right side to the left side to detect whether or not the front end portion E of the steel material 1 has passed the detection line L from the photographed image (step S <b> 33).

If the steel material 1 does not pass through the detection line L, the passage signal is transmitted to the control device 11 as "0" (step S34). In the control device 11, FIG.
As shown in the flowchart of FIG. 9, when a pass signal from the image processing device 16 is input (step S41), it is detected whether or not the pass signal is set to "1" (step S42), and the pass signal is set to "0". ", The detection line L
Is assumed that the steel material 1 has not passed through each of the detectors 9 and 1
Based on the detection information from 0, the current position of the foremost end E of the steel material 1 is detected (step S43), and a rotation control signal to the roller 5 is determined based on the detected current position and the target stop position Q '. It is formed (step S44).

Then, when the roller 5 is rotated in response to the rotation control signal from the control device 11, the steel 1 is conveyed, and the leading end E of the steel 1 reaches the detection line L in the photographed image. The image processing device 16 detects this and outputs the passing signal as "1" to the control device 11 (step S35). Thereafter, from the difference between the detection line L on the photographed image and the foremost portion E of the steel material 1, the actual position corresponding to the detection line L, that is, the position 2,000 mm upstream from the cutting line of the tongue cut saw 8 and the steel material 1 1
Is obtained and the difference is output to the control device 11 as a position detection signal (step S36).

When the passing signal is “1” (step S 42), the control device 11 recognizes that it is time to start the stop control for the roller 5, and outputs the position detection signal from the image processing device 16. The reading (step S45), the actual current position of the steel material 1 is measured based on the position detection signal from the image processing device 16 instead of the detection information from the detectors 9 and 10 (step S46), and the measured current Stop control for the roller 5 is started based on the position and the target stop position Q '(step S47). Thereafter, the current position based on the photographed image is sequentially obtained, and the stop control is performed based on the current position.

Therefore, the control device 11 controls the rotation of the steel material 1 near the target stop position based on the current position of the steel material 1 based on the actual image, so that even if the steel material 1 slides on the roller 5, for example, Since the accurate current position of the steel material 1 can be detected and the rotation control is performed based on the detected current position, the steel material 1 can be stopped at a desired position with high accuracy. At this time, since the deviation amount between the detection line L and the foremost end E is detected in an analog manner, the current position when passing through the detection line L is detected with higher accuracy than in the third embodiment. can do.
Further, since the correction amount ω is detected in advance, the target stop position Q is corrected based on the correction amount ω, and the control is performed based on the corrected target stop position Q ′, the same operation and effect as in the first embodiment are obtained. And can be stopped at a desired position with higher accuracy.

Further, since the position of the foremost end E of the steel material 1 is detected based on the image captured by the image processing camera 15, the field of view and the steel material are different as in the case where the end detector 9 is used. The timing of detecting the forefront portion does not differ depending on the occupation ratio with 1. For example, as in the case of the H-section steel material in FIG. 21, the forefront portion has a tongue shape or a fish tail shape. Even in some cases, the position of the forefront can be reliably detected.

Although the entire field of view of the image processing camera 15 ranges from 2 m to 4 m, the field of view per pixel of the two-dimensional CCD is several mm or less. Compared with this, the detection resolution can be significantly improved, and since the camera is a two-dimensional camera, the detection line L can be set to correspond exactly to actual equipment, so that more accurate position detection can be performed.

The two-dimensional camera requires a CCD pixel reading time of several tens of msec. During this time, the steel material 1 is being conveyed. The probability of coincidence with the detection line L is low, and it is normal that the detection line L is detected as passing through when it travels downstream by the maximum of "material transport speed x CCD pixel reading time". Line L
Control device 11 which detects a deviation between the steel material 1 and the leading end E of the steel material 1
, The steel material 1 associated with the reading cycle
In this case, the error at the forefront portion can be removed, the position of the end portion of the steel material can be detected with higher accuracy, and accordingly, the stop position control with higher accuracy can be performed.

Further, since the vicinity of the stop position of the steel material 1 is photographed and the stop control of the roller 5 is performed based on the current position based on the photographed image, the transmission composed of the radiation type photoelectric switch, the projector and the light receiver is performed. As in the case of using a transmission type photoelectric switch of a laser type or a laser type, the timing of detecting the end of the steel material 1 does not vary,
Precise stop control can be performed. Therefore, the first
The same operation and effect as those of the embodiment can be obtained, and the steel material 1 can be stopped at a predetermined position with high accuracy.

FIG. 21 is a graph showing the position detection result of the steel material 1 according to the fourth embodiment and the position detection result when a conventional detector such as PLG is used.
As can be seen from FIG. 1, there is a difference of about 200 mm between the detection position using the conventional detector at the final stop position of the steel material 1 and the detection position according to the present invention. It can be seen that the stop position control could be performed with higher accuracy.

[0113] Incidentally, in the fourth embodiment, it is possible to, but the reference line L _M has been described the case of providing a position corresponding to the tongue cut of the cutting line arbitrarily set is not limited thereto, the detection line L can also be set arbitrarily.

In the fourth embodiment, the steel 1
In the above description, the stop position control is performed by detecting the passing position of the front end portion. However, it is also possible to perform the stop position control on the tail end portion. In this case, the passing signal of the detection line L is “0”. , The detection line L
If a position detection signal is obtained based on the deviation between the position and the tail end, and the control device 11 performs the stop control based on the position detection signal, the same effect as described above can be obtained.

In the fourth embodiment, the case where the timing for starting the stop control of the roller 5 is detected has been described. However, the present invention is not limited to this and may be arbitrarily applied.

In each of the above embodiments, the case where a steel material is transported has been described. However, the present invention is not limited to this, and the present invention can be applied to a case where a plate material is transported. Further, in each of the above embodiments, the case where the transfer control device according to the present invention is applied to the transfer control line 100 for the steel material 1 has been described.
The present invention is not limited to this, and can be applied arbitrarily. In particular, it is effective if applied to a transport control line in which slippage or flow occurs.

[0117]

As described above, according to the transport control apparatus of the first aspect, the movement amount of the transported object after the drive of the transport table is stopped is determined by the weight per unit length of the transported object and the transported object. And the target stop position is corrected in accordance with this, so that the amount of movement can be easily estimated and the transported object can be stopped at the target stop position with higher accuracy. Can be done.

Further, according to the transport control device of the second aspect, an image of the transported object when passing through the predetermined passing point is taken,
In the captured image, the amount of deviation between a preset reference point and the end of the conveyed object is detected, and the current position of the conveyed object is estimated from the amount of deviation and the actual position of the reference point. It is possible to detect a high-precision current position that does not include an error factor such as slippage between the conveyed object and the conveyance table, and perform a drive control of the conveyance table based on the current position to more accurately perform the target stop position. Can be stopped.

Further, according to the transport control device of the third aspect, the vicinity of a predetermined position is photographed, a detection line corresponding to the predetermined position in the photographed image, and a plurality of auxiliary detection lines downstream thereof. Since the auxiliary detection line is set in accordance with the update cycle of the captured image and the transport speed of the transported object, when the end of the transported object reaches the detection line, the auxiliary detection line is set. Since the current position of the edge is estimated based on the auxiliary detection line at which the edge has arrived, it is possible to detect a more accurate current position that does not include an error associated with the update cycle of the captured image. When the end detection notification is issued, for example, by starting stop control or the like of the transport table based on the current position, more accurate processing can be performed.

Further, according to the transport control device of the fourth aspect, when a vicinity of a predetermined position is photographed and a detection line is set corresponding to a predetermined position in the photographed image, the detection line and the end portion are set. Detects the amount of deviation in the captured image and estimates the current position of the end based on this, so that a more accurate current position can be detected, and when the end detection notification is issued By starting, for example, stop control of the transport table based on the current position, more accurate control can be performed.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram illustrating a facility configuration of a transport control line to which a transport control device according to a first embodiment is applied.

FIG. 2 is a block diagram of a control system of a transfer control line to which the transfer control device according to the first embodiment is applied.

FIG. 3 is a graph showing a relative relationship between a material weight and a stop position error.

FIG. 4 is an explanatory diagram for explaining a flow amount;

FIG. 5 is a graph showing an example of a one-dimensional model.

FIG. 6 is a schematic configuration diagram illustrating a facility configuration of a transport control line to which the transport control device according to the second embodiment is applied.

FIG. 7 is a block diagram of a control system of a transfer control line to which the transfer control device according to the second embodiment is applied.

FIG. 8 is an example of an image captured by the image processing camera 15.

FIG. 9 is an example of an error signal of the image processing device 16;

FIG. 10 is a graph illustrating a relative relationship between a material weight and a stop position error in a transfer control line to which the transfer control device according to the second embodiment is applied.

FIG. 11 is a graph showing a relative relationship between a material weight and a stop position error by a conventional transport control line.

FIG. 12 is an explanatory diagram for explaining an operation of a transport control line to which the transport control device according to the third embodiment is applied.

FIG. 13 is an example of an image captured by the image processing camera 15 according to the third embodiment.

FIG. 14 is an image processing apparatus 16 according to the third embodiment.
9 is a flowchart showing an example of the processing procedure of FIG.

FIG. 15 is a flowchart illustrating an example of a processing procedure of a control device 11 according to the third embodiment.

FIG. 16 is an explanatory diagram for explaining an operation of a transport control line to which the transport control device according to the fourth embodiment is applied.

FIG. 17 is an example of an image captured by the image processing camera 15 according to the fourth embodiment.

FIG. 18 shows an image processing apparatus 16 according to the fourth embodiment.
9 is a flowchart showing an example of the processing procedure of FIG.

FIG. 19 is a flowchart illustrating an example of a processing procedure of a control device 11 according to the fourth embodiment.

FIG. 20 is a graph showing a detection position of a steel material according to the fourth embodiment and a detection position by a conventional method.

FIG. 21 is a plan view showing an example of the shape of the end of the steel material 1.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Steel material 3 Breakdown mill 4 Transfer table 5 Roller 6 Motor 7 Motor driver 8 Tongue cut saw 9 Edge detector 10 Rotation detector 11 Control device 12 Correction amount setting device 15 Image processing camera 16 Image processing device

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-3-36115 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B65G 43/00-43/10

Claims (4)

(57) [Claims] 1. A transport table is driven based on a current position of an article placed on the transport table, and when the article comes to a predetermined position, the driving of the transport table is stopped and the article is stopped. In the transfer control device, the transfer amount estimating means for estimating a transfer amount of the conveyed object after stopping driving of the convey table from a weight per unit length of the conveyed object and a total weight, Correction means for correcting the target stop position of the conveyed object to a position in front by the movement amount estimated by the movement amount estimating means, and based on the target stop position corrected by the correction means and the current position of the conveyed object. And a drive control means for controlling the drive of the transfer table. 2. A photographing means for two-dimensionally photographing a predetermined passing point of the conveyed object, and a shift amount in an image photographed by the photographing means between a predetermined reference point and an end of the conveyed object. 2. The transfer control device according to claim 1, further comprising: position estimating means for estimating a current position of the conveyed article based on the actual position of the reference point. 3. The position estimating means includes a display means for displaying a detection line corresponding to the reference point in the photographed image, and an auxiliary means for displaying an auxiliary detection line at a predetermined interval downstream of the detection line. Display means for performing edge detection notification when detecting that the edge of the conveyed object has reached the detection line in the captured image, and detecting an auxiliary detection line reaching the edge. Means, an interval between the auxiliary detection lines detected by the line detection means, and an estimation means for estimating the current position of the conveyed article based on the actual position of the reference point, the drive control means, 3. The current position estimated by the estimating means at the time when the edge detection notification is performed is recognized as the current position of the conveyed object at the time of the edge detection notification. Description Transport control device. 4. The display device according to claim 1, wherein the position estimating unit displays a detection line corresponding to the reference point in the photographed image, and an end of the conveyed object reaches the detection line in the photographed image. Edge detection means for performing edge detection notification when detecting that, detecting a shift amount between the end of the conveyed object and the detection line in the captured image, the shift amount and the reference point Estimating means for estimating the current position of the conveyed article based on the actual position of the conveyed object. 3. The transport control device according to claim 2, wherein a current position is recognized as a current position of the conveyed object at the time of the edge detection notification.