JP4700567B2 - Steel material management method and management system - Google Patents

Description

  The present invention relates to a technique for preventing replacement due to a handling error even when the storage position or installation location of a steel material is changed when managing and storing a large number of steel materials such as slabs.

Plated steel materials such as slabs of semi-finished products cut out to a predetermined length after continuous casting and thick plates that have become rolled products are stacked in a storage yard one by one and then stored in the next step. It is unloaded to a rolling mill or shipped to a ship or truck for product shipment. Such steel materials have a weight of several tons to several tens of tons per piece. In large steelworks, there are several hundred piles of slabs stacked in multiple slabs, and the total slabs in the slab yards The number of sheets may reach several thousand.
FIG. 10 shows an example of a slab yard when the steel material is a slab. In the slab yard 100 in this example, slabs manufactured by two continuous casting machines 101 and 102 are supplied via table rollers 103 and 104. It is set up on the site of the steelworks as a place to be managed and stored. The slab yard 100 is provided with a plurality of crane devices 105 that are movable in a direction perpendicular to the conveying direction of the table rollers 103 and 104 along a plurality of rail members (not shown). These crane devices 105 are provided with a cart and a suspension device (not shown), and the slab gripped and lifted by the suspension device of the crane device 105 is moved to an arbitrary place where the crane device 105 can move and placed. And if necessary, multiple sheets can be stacked and stored.

In the slab yard 100 having the configuration shown in FIG. 10, a first installation place 106 where the slab conveyed from the continuous casting machine 101 via the table roller 103 is installed, and from the continuous casting machine 102 via the table roller 104. A second installation place 107 where the slab that has been conveyed is installed is partitioned, and a transshipment place 108 and a conveyance table roller 109 are provided between the first installation place 106 and the second installation place 107. The slab is reloaded on the carry-out table roller 109 so that it can be conveyed to the next rolling step.
Further, a mark device 110 for providing a type identification display to the slab is installed in the middle of the table rollers 103 and 104, and an appropriate position such as a side surface of the slab that has moved on the table rollers 103 and 104. It is configured to be able to give the necessary identification display.

In the slab yard 100, the slabs transported via the table rollers 103 and 104 are installed at the first installation place 106 and the second installation place 107, and the slabs can be transferred at the transfer place 108 as necessary. By performing selective movement, the necessary slab can be sent to the next rolling step via the carry-out table roller 109.
If the slabs manufactured in the continuous casting machines 101 and 102 are immediately conveyed to the rolling process, such a slab yard 100 is not necessary, but the type, amount, and supply capacity of the slabs that can be supplied from the continuous casting machine Since the types, amounts, and rolling capacities of slabs required in the rolling process often differ, a slab yard 100 is required as a buffer for adjusting the supply and storage of the slab between the two processes. ing.

In the slab yard 100, the marking device 110 provides identification and indication on the side surface of the slab to identify the composition and type of the slab, the number of the slab cast in one batch of the converter, and the like. All slab management numbers are managed and slabs are managed and stored. For example, slabs are installed in various ways, such as stacking the same composition, stacking products with similar serial numbers, stacking slabs with different compositions from the middle of stacking, and changing the installation position. In any case, if the wrong type and amount of slab are sent to the rolling process, not only the quality of the final product can be guaranteed, but a large amount of unnecessary products are produced. Therefore, it is necessary to strictly identify and manage all slabs.
In the slab position management in the slab yard 100, conventionally, an operator visually checks each slab and confirms the identification display, records the storage location in a computer management system, and installs the slab in the slab yard 100. Each time, the operator re-entered the new installation location into the computer and managed it. For example, the number of which slabs are stacked among the plurality of slabs at the installation locations 1 to 200 is managed.

Further, as a technique applicable to the slab installation position management method in the slab yard 100, in a steel material production line that performs steel material tracking by an independent computer for each process in the inter-process steel material tracking method, the steel material is included in the upstream process. An automatic steel stamping device that stamps the stamped characters on the surface is provided, and an automatic stamp reader that reads the stamped characters on the surface of the steel is provided in the downstream process. Technology for consistent steel tracking is provided. (See Patent Document 1)
In addition, as a system for verifying the actual product using a computer, in a billet arraying device before charging a steel bar, a billet with characters and symbols marked on the end faces is provided at the inlet of two or more billet arraying devices. There is known a billet material prevention system characterized in that a reading device is arranged, transmitted to a tracking computer, verified on the actual product, and paid out while matching the order of loading in the computer. . (See Patent Document 2)
JP-A-3-32423 JP-A-8-164407

However, when the slab is repeatedly moved in the slab yard 100, the slab is replaced at a certain frequency due to a handling error of the crane operator. This is because if the operator makes a mistake in the number of slabs to be transported, or if the operator moves in the wrong position or mountain, the operator should be able to grasp and check the current situation. Has occurred. Furthermore, if there are thousands of slabs in the slab yard 100, if the installation position of the slab is changed due to a mistake, the target slab may not be found at the next necessary opportunity. . When such a slab replacement occurs, the slab management information in the slab yard 100 has already collapsed, although it is possible to prevent the slab from being unloaded by performing identification management before finally carrying it out to the next process. However, there is a problem that it takes time to recover the management information because of misinformation.
Of course, it is only necessary to photograph each slab identification symbol existing in the slab yard 100 using a surveillance camera or the like, re-recognize them one by one, and perform strict management by the operator. In addition, it is extremely difficult to accurately check the identification display of the slab far from the surveillance camera in the wide slab yard 100 by, for example, telephoto shooting, and behind the mountain where the slabs are stacked. There is a problem that it is difficult to confirm the identification display of each slab of each of the other slab hills located on the monitoring camera itself.
It is desirable if the previous surveillance camera is attached to a hanging device of a crane apparatus that transports the slab, and it is desirable to know the control number of the slab one by one, but the slab cut out from the continuous casting machine may have a temperature of several hundred degrees Celsius, If a surveillance camera is provided on the hanging tool, there is a problem that the camera may be damaged due to heat, and the crane apparatus that transports the slab has a problem that the camera cannot be mounted in a safe state because of a large vibration.

  Next, in the technique described in the above-mentioned Patent Document 1, even if management is possible until the slab is carried into the slab yard 100 and installed at a specified position, the slabs can be reloaded inside the slab yard 100, It has become a technology that can handle the management of slabs when there is a movement, replacement work, operation error, or incorrect input. Furthermore, when all the slabs in the slab yard 100 are monitored and identified by the surveillance camera, the surveillance camera must be arranged for each slab in the range that can be grasped by the surveillance camera, and a large number of surveillance cameras are required. It was not easy to apply.

  The present invention has been made in view of the above-mentioned background. Even if a number of steel materials are placed and stacked in a management storage place, it is possible to accurately manage each steel material. The purpose of the present invention is to provide a technique capable of correcting the management and storage state of the steel material later even if the worker makes a mistake at the time of transshipment or replacement and the steel material is placed at a position other than the prescribed place.

(1) The steel material management method of the present invention is a conveying device in which a pile of stacked steel materials or a plurality of single steel materials are arranged and arranged in a management storage location, and a suspension is provided at the management storage location. In the method of managing steel materials while moving or placing or rearranging the steel materials by moving the steel materials to another place or a pile of piles in another place by the above-mentioned hanging tool in each steel material placed in the management storage place Each steel material has a unique identification display around the portion gripped by the steel material, and when the steel material is gripped by the lifting device of the transport device, the steel material in the vicinity of the lifting device is automatically used by the reader provided in the transport device. When the control device connected to the reading device automatically detects and recognizes the identification display, and when the gripped steel material is transported and installed on another steel material, the other steel material identification display The The destination of the steel material which is the conveyed automatically recognized by taking seen, and performs management of the steel on the basis of these recognition results.
(2) In the steel material management method of the present invention, a camera capable of telephotographing is installed as a recognition device at a portion away from the suspension of the transport device described in (1), and each steel material is gripped by the suspension. Focusing on the identification display of the steel material gripped on the machine, it automatically reads and grasps the identification display of the steel material, and identifies and displays the other steel materials for each installation work on the other steel materials conveyed by the hanging tool It is characterized by automatically recognizing the destination of the conveyed steel material by automatically reading the identification display of the other steel material with a focus.

(3) The method for managing a steel material according to the present invention includes a swinging operation of the camera based on the vertical movement and traversal of the hanging device of the moving device according to (1) or (2), and Photographed so that the gripping position of the steel material is always at a specified position in the image of the camera, and when the hanging tool grasps the steel material, the identification display of the steel material near the hanging tool is read, and the steel material is When the hanging tool is released, an identification display of another steel material positioned below the released steel material is read, and the position of the steel material movement destination is automatically recognized.
(4) In the steel material management method of the present invention, among the steel materials stacked according to the above (1) to (3), in order to sandwich the steel material corresponding to the number to be lifted with the suspension tool, the suspension tool is used. The steel plate is lowered toward the steel material, and the identification indications of all the steel materials passed through the tip of the hanging tool are read by the camera, and the identification indications of all the steel materials to be gripped by the hanging tool are grasped and confirmed, and then the hanging material is checked. The tool is characterized in that the necessary number of steel materials are held.

(5) The steel material management system of the present invention is a conveying device in which a pile of stacked steel materials or a plurality of single steel materials are arranged and arranged in a management storage place, and a suspension is provided at the management storage place. In the system for managing the steel material while moving the steel material to another place or a pile of piles in another place and placing or stacking or rearranging the steel material, the transport device is provided with the steel material hanging tool, and the transport device A camera for photographing the identification display attached to the steel material when the steel material is gripped by the hanging tool is provided in a part of the camera, and a control device for recognizing the identification display photographed by the camera is connected to the camera. The control device automatically detects and recognizes the identification of the steel material by the camera when the steel material is gripped by the hanging tool, and installs the conveyed steel material on another steel material. Recognized by automatically detected by the camera identification of the other steel in the, characterized in that a function for managing the steel on the basis of these recognition results.
(6) In the steel material management system of the present invention, the control device according to (5) has a function of recognizing a vertical position and a horizontal position of the hanging tool, and position information when the hanging tool grips the steel material. A function for recognizing the camera, a function for controlling the vertical and horizontal directions of the camera according to the vertical position and the horizontal position of the hanging tool, and the camera based on positional information when the hanging tool grips the steel material. It has the function to recognize the identification display of the said steel materials automatically.

(7) The steel material management system of the present invention automatically reads and recognizes the steel material identification display by focusing on the steel material identification display held each time the steel material is gripped by the lifting device. In addition, the control device automatically displays the identification display of the other steel materials by focusing on the identification display of the other steel materials every time the steel material transported by the hanging tool is installed on the other steel materials. It has the function to perform the automatic recognition of the movement destination of the steel materials conveyed by reading automatically.
(8) In the steel material management system of the present invention, among the steel materials stacked according to any one of the above (5) to (7), the steel material corresponding to the number to be lifted is clamped with a lifting tool. Lower the suspension toward the steel, read the identification display of all steel that the tip of the suspension has passed through the camera, and grasp and confirm the identification display of all the steel that the suspension should hold From the above, the control device is provided with a function of gripping a necessary number of steel materials by the hanger.

According to the present invention, when the steel material is gripped by the lifting device of the transport device, the control unit recognizes and grasps the steel material identification display in the vicinity of the hanging device automatically, and the gripped steel material is placed on another steel material. When installed, it automatically recognizes the destination of the transported steel by reading the identification display of the other steel, and manages the steel based on these recognition results, so the wrong steel will not be transported Since steel is not transported to the wrong place, how many pieces of steel are installed in a steel yard such as a slab yard and repeatedly moved in the steel yard such as a slab yard. Even if it exists, the position of steel materials can be recognized and managed accurately.
In addition, when the camera is arranged in a portion away from the hanging tool of the transport device, the camera is not adversely affected even when a steel material such as a slab is in a high heat state. Therefore, it is possible to reliably capture and grasp the identification display of the steel material. Moreover, even if the camera is provided in a part away from the lifting device of the transport device, the distance between the camera and the steel material is not so large when the transport device approaches the steel material and lifts with the lifting device. Thus, the identification display of the steel material can be reliably photographed and recognized.

If the camera provided in the transport device adjusts the direction of the camera following the movement of the suspension tool and displays the gripping position of the steel material at the specified position in the camera image, the vicinity of the gripping position of the steel material The identification display can be easily read when gripping the steel material. Moreover, since the position of the movement destination of steel materials can be confirmed by reading the identification display of the steel material of the lower part, when a hanging tool releases steel materials, the position of a movement destination is not mistaken.
In addition, when the lifting tool is lowered in accordance with the number of steel materials to be lifted, the specified number of steel materials can be lifted without misrecognizing the number of steel materials to be lifted by checking the identification number of the steel materials to be lifted. Can be transported.

The best mode of the steel material (slab) management method and management system according to the present invention will be described below. However, the method and system of the present invention are not limited to the following best mode.
This embodiment is applied to the previously described slab yard shown in FIG. In the slab yard (steel material management storage location) 100 shown in FIG. 10, the crane device (conveyance device) 105 is arranged on a plurality of support columns 2 arranged in parallel to the ground 1 of the slab yard 100 as shown in detail in FIG. A rectangular frame shape in plan view provided with the main club 5 in such a manner that the erected garter 3 is provided in a direction perpendicular to the table rollers 103 and 104 described above and is laid over the left and right garters 3 and 3. The traveling frame 6 is configured to be able to travel horizontally along the garters 3 and 3 via a plurality of wheels 7. Since the garters 3 and 3 are oriented in a direction perpendicular to the table rollers 103 and 104 described above, the traveling frame 6 is provided in the slab yard 100 so as to be movable in a direction perpendicular to the table rollers 103 and 104. It has been.

On the traveling frame 6, a traversing carriage 9 having wheels 8 movably along the traveling frame 6 is provided. The traversing carriage 9 is provided on the traveling frame 6 so as to be movable from one garter 3 side to the other garter 3 side, that is, in the left-right direction in FIG. A hanging tool 11 is suspended by a hanging member 10 such as a wire below the traversing carriage 9, and the hanging tool 11 is moved up and down via the hanging member 10 by a hoisting device (not shown) provided on the traversing carriage 9. It is configured to be able to.
The hanger 11 has a pair of left and right gripping claws 12 and 12 shown in FIG. 1 and a palm portion 13 to which they are attached. Further, although not shown in FIG. The steel material (slab) 15, 16, 17, 18 stacked on the ground 1 can be gripped so as to be sandwiched from both sides thereof. Each of the slabs 15 to 18 is a plate-like body having a rectangular shape in plan view, and is laid on the ground 1 with the longitudinal direction thereof directed to the left and right (parallel to the traveling frame 6) in FIG.

A cab 20 of the crane device 105 is installed on the lower side of the traveling frame 6 and close to one of the garters 3 so as to be suspended below the traveling frame 6. A camera (photographing device) 21 having a function is supported by a gantry 22 and installed so as to freely swing in the left-right direction and the up-down direction. The driver's cab 20 is formed to extend in a direction perpendicular to the paper surface of FIG. 1, and the camera 21 installed in the driver's cab 20 is slabd when one of the slabs 15 to 18 is gripped by the hanger 11. It is comprised so that the identification display 22 currently formed in 15-18 side surface side center part can be visually recognized from the diagonal direction.
Next, the driver's cab 20 includes a travel control device for the traversing carriage 9, a travel control device for the travel frame 6, a hoisting vertical position control device for the hanger 11, a vertical and horizontal position control device for the camera 21, and a telephoto zoom control device. Further, from these control devices, the traversing position that matches the traversing signal of the traversing carriage 9 is grasped, the vertical position of the hoisting tool 11 is grasped from the hoisting up / down signal of the hoisting tool 11, and the lifting tool 11 carries out the slab. The grasping start signal is grasped as a signal from the load cell attached to the hanging tool 11, and the signal that the hanging tool 11 has released the grip of the slab is grasped as a signal from the load cell attached to the hanging tool 11. A control device (control controller) 25 capable of performing the control described in (1) is provided in a form connected to the cab 20.

The control device 25 detects the traversing position of the carriage 9, detects the vertical position of the hanger 11, and controls and holds the horizontal direction, vertical swing angle and zoom magnification of the camera 21 in accordance with these positions. It has a function of controlling the camera 21 so that the identification displays 15a to 18a of the slabs 15 to 18 located between the claws 12 and 12 can be photographed at a predetermined position within the viewing angle of the camera 21 in a predetermined size. And the control apparatus 25 has a function which grasps | ascertains the identification display of the slab which the front-end | tip part of the holding claws 12 and 12 grasped when the holding claws 12 and 12 of the hanging tool 11 hold | gripped the required number of slabs.
Here, for example, in the case shown in FIG. 1, the gripping claws 12, 12 of the hanging tool 11 are in a state of gripping and transporting the two slabs 18, 17 from above, so that the gripping claws 12, 12 grip the slabs 18, 17. When the control device 25 detects the loaded signal, the control device 25 causes the camera 1 to photograph the identification display 17a of the slab 17 located between the tips of the gripping claws 12 and 12, and the control device 25 is It is possible to grasp and confirm that the slabs to be gripped and moved are the slabs 18 and 17.
Further, if the state shown in FIG. 1 is a state in which the slabs 18 and 17 gripped and transported by the gripping claws 12 and 12 are placed on the slab 16, the control device 25 will control the gripping claws 12 and 12. The off-road signal for releasing the grip is detected, and the camera 21 is caused to photograph the identification display 16a of the slab 16 existing under the grip claws 12 and 12, and the control device 25 holds the slab that has been gripped by the hanger 11 and conveyed. It is possible to grasp and confirm that 18 and 17 are placed on the slab 16.

Hereinafter, the functions of the control device 25 of the present embodiment will be described separately for various transport patterns of slabs (steel materials).
Fig. 2 shows an example in which three slabs are lifted and transported from a pile of eight slabs, and the three slabs are moved onto three other piles of slabs installed elsewhere. It is a figure for demonstrating. Further, flowcharts in the case of this transport pattern are shown in FIGS. In addition, in the flowchart shown in FIG. 3 and FIG. 4, the hanging tool 11 is described as a tongue.
In the slab yard 100, the position information of the target pile of slabs is transmitted from the master control device (high-order computer) of the slab yard command center to the transport device 105, whereby the traveling frame 6 moves along the garters 3 and 3. However, if it moves on the target slab, the traversing carriage 9 moves on the traveling frame 6 with the lifting equipment 11 pulled up, and if the hanging equipment 11 comes directly above the slab, the traversing carriage 9 stops. Then, it shifts to the slab gripping work (step S1). Before shifting to this work, the camera 21 takes a picture of the position of the hanging tool 11 by tracing the horizontal position of the hanging tool 11. Also, the master control device of the slab yard command center records data such as position information of all slabs installed and managed in the slab yard 100 and information on the number of stacked piles as tracking information. For example, if there are 700 stacked piles in the slab yard 100, the tracking information includes the position information of several hundred stacked mountains, and which slab is stacked at which level of each stacked pile. Location information.

When the hanging tool 11 is lowered from the previous state (step S2), the camera 21 installed in the cab 20 swings up and down so as to trace the vertical position of the hanging tool 11. During this time, the control device 25 is informed of the pile information of the corresponding slab pile from the host computer (computer) at the command center (step S4). In this example, a case where three slabs 31 to 33 are gripped from the top of an eight-layer pile as shown by reference numerals 31 to 38 in FIG. 2 will be described. Further, the slab 31 has 0001 as the identification display at the center of the side surface, the slab 32 has 0002 as the identification display (ID) at the center of the side surface, and the slab 33 similarly has 0003 as the identification display. Is printed or stamped as identification display 0004, slab 35 as identification display 0005, slab 36 as identification display 0006, slab 37 as identification display 0007, and slab 38 as identification display 0008. It is given by the technique.
The lifting tool 11 moves until the tips of the gripping claws 12, 12 pass through the slabs 31, 32 and reach the slab 33. During this time, the control device 25 reads and stores an image indicating the identification display 0001 of the slab 31 while the tips of the gripping claws 12 and 12 pass through the slab 31, while the tips of the gripping claws 12 and 12 pass through the slab 32. The identification display 0002 of the slab 32 is read and stored, and similarly, the identification display 0003 of the slab 33 is stored as tracking information. (Step S5) When the slabs 31 to 38 are taken out of a continuous casting machine and transported to the slab yard 100, for example, the temperature is several hundred degrees Celsius, so if the camera 21 is provided near these slabs The camera 21 may be damaged by heat, but if the camera 21 is installed in the cab 20, the camera 21 is not likely to be damaged by radiant heat from the slab.

Since the control device 25 confirms the slabs 31 to 33 that can be gripped by the gripping claws 12 and 12 by the above processing, the previous tracking information is correct as compared with the management information of the master control device of the command center. Check if they are different. (Step S6) If both information differs by this comparison, a work will be stopped and an operator will confirm the slabs 31-33 in the position of the hanging tool 11 directly. (Step 7)
If the information is correct as a result of the comparison in step S6, the control device 25 grips the three slabs 31 to 33 by the grip claws 12 and 12 of the hanger 11. (Step S8) Here, the slabs 31 to 33 gripped by the gripping claws 12 and 12 are again photographed by the camera 21, and the slabs 31 to 33 gripped by the hanging tool 11 are confirmed (Step S9). It is confirmed whether or not it matches with the type of slab in the movement command given from the master controller. (Step S <b> 10) The confirmation of the gripping operation in Steps S <b> 8 and S <b> 9 can be grasped by the control device 25 by weighted measurement using a load cell provided in the hanging tool 11.
Here, if there is a difference as a result of the previous confirmation, it means that the number of slabs gripped by the hanging tool 11 is wrong, so the process returns to step S8 again and the gripping work of the slabs 31 to 33 is repeated.
If the information is correct as a result of the confirmation in step S10, it can be confirmed that the information of the movement target slab is correct, and the process shifts to the transfer operation.

In the transfer work, if the crane device (transport device) 105 is moved to the target position based on the management information of the master control device of the command center and moved to the top of the target slab pile as shown in FIG. The slab wholesale work is performed according to the steps shown in FIG. Here, as shown in FIG. 2, the slabs 31 (identification display 0011), 42 (identification display 0012), and 43 (identification display 0013) are demonstrated as what piles up the slabs 31-33 on the pile.
First, the lifting work of the hanging tool 11 is performed (step S15 in FIG. 4), and the slabs 31 to 33 held by the hanging tool 11 are lowered onto a target slab pile, and the holding force by the holding claws 12 and 12 is increased. To release. (Step S <b> 16) The release of the gripping force can be grasped by the control device 25 by receiving a signal from the load cell provided in the hanging tool 11. Here, the control device 25 confirms the identification display of the uppermost slab of the target slab pile based on the management information of the master control device of the command center. (Step S17)

Subsequently, the control device 25 moves the camera 21 in accordance with the vertical movement of the hanging tool 11, confirms the identification display of the slab 41 located below the gripping claws 12 and 12 (step S18), and Compared with the slab information of the slab piles, it is compared (step S19). If the result is a mismatch, the operation is stopped and the worker directly moves the slabs 41 to 43 at the position of the hanger 11. Confirm and, if necessary, correct the management information of the master control device at the command center. (Step 20)
As a result of the confirmation, if it matches the management information of the master control device of the command center, it is regarded that the movement of the slab has been completed, and the master of the command center as if the slabs 31 to 33 were placed on the slabs 41 to 43. The management information of the control device is rewritten to complete the work. It should be noted that it is desirable to be able to check the wholesale pile even when no slabs are stacked at the target destination. For example, if a slab that is no longer needed is installed for address management at the bottom of the mountain, it is possible to confirm that it is the destination wholesale mountain by checking the identification display described on this slab. .

  If the slab is moved and installed based on the above steps, the control device 25 reliably grasps that the slab has been gripped by the hanging tool 11, and ensures that the prescribed number of slabs are securely placed on the target slab pile. It is possible to grasp and confirm that it has been unloaded and stacked. Therefore, there is an effect that different slabs are not transported to different positions or stacked due to a mistake by a crane operator or an operator. In addition, since slab confirmation is performed in steps S5, S6, and S7, it is not possible to grip a different slab. Next, since the slab gripped in steps S9, S10, and S11 is checked again, it is not necessary to grip a different slab due to a gripping operation error. Subsequently, in steps S18 and S19, the piles of the slab to be lowered are checked, so that the slab is not placed in a place different from the intended purpose. In addition, since the slab to be placed is checked in addition to the slab to be gripped in each of the above operations, if the slab is present at a position other than the planned position due to an operation error in another operation, the position is wrong. It is possible to detect the slab that has been moved to the correction work, and to correct the management information of the master control device.

Next, a case where the slab is moved by the crane device 105 will be described below in a case where the slab is placed on another pile other than the target pile.
As described above with reference to FIGS. 2 and 3, the three slabs 31 to 33 are moved as shown in FIG. In this case, as shown in FIG. 6, the operations performed in steps S1 to S12 are the same as those in steps S1 to S12 described based on FIG.
When the crane device 105 that holds the slabs 31 to 33 does not move to the target location for any reason and moves to the pile of slabs at other locations, the control device 25 lowers the suspension 11. Lower the slabs 31-33 on the other piles at that position. Although this state is shown in FIG. 5, the slabs 31 to 33 originally intended to be lowered on the piles of the slabs 41, 42 and 43 are slabs 31 to 33 on the slabs 51, 52 and 53 on the other piles. Suppose that This state occurs whether the crane device 105 that should move to the target position based on the management information of the master control device of the command center is caused by an operator's operation error or misreading of the movement information, or the master control of the command center. It may occur when an incorrect command is given to the crane device 105 from the device.

After moving the slabs 31 to 33 based on steps S1 to S12 shown in FIG. 6, the control device 25 controls the operation of the hanger 11 based on the steps shown in FIG.
In the step shown in FIG. 7, the control device 25 performs steps S15 to S19 as in the case of the step described above based on FIG. 4, and the slab 51 located under the slab 33 is the command center in step S19. When recognizing that it is not the target slab 41 based on the management information of the master control device, the control device 25 again searches the management information of the master control device of the headquarters for the identification display of the uppermost slab of the adjacent pile. The pile that corresponds to the slab to be piled up is found (step S22), and the management information of the master control device at the command center is changed so that the crane device 105 moves to this pile (step S23). Command to move to. (Step S24)

If the crane apparatus 105 moves to the target place, it returns to step S15 again, and slabs 31-33 are hung on the pile of the target slab slabs 41, 42, 43 as shown in FIG. By placing the slabs 31 to 33, the movement work can be completed accurately.
In step S22, the control device 25 cannot again search for the identification display of the uppermost slab of the nearby stacked mountain from the management information of the master control device of the command center, and cannot find the stacked mountain corresponding to the originally stacked slab. If this happens, the operation is stopped and the worker checks the actual slab. (Step S25)

Next, when the slab is moved by the crane device 105, a case where the slabs 31 and 32 are moved by mistake instead of the target slabs 31 to 33 will be described with reference to FIGS.
In this case, as shown in FIG. 9, the steps S1 to S10 are performed in the same manner as in the case of FIGS. 3 and 6 described above. In step S10 of FIG. 9, in the case of inconsistency, in the case of FIG. 3 and FIG. 6, the slabs 31 to 33 are re-gripped by the hanging tool 11 in step S11. However, in the case shown in FIG. Due to the cause, the work is continued as it is, the slabs 31 and 32 are moved (step S25), and the movement is completed as it is. (Step S27) In this case, the slab grasped by the hanging tool 11 in Step S9 is not the slabs 31 to 33 but the slabs 31 and 32. This corresponds to a case where the operation is continued.

In such a case, after the movement of the slabs 31 and 32 is completed, the control device 25 issues a movement command for the crane device 105 again (step S28).
More specifically, based on the slab error information detected in the previous step S10, the slabs 31 and 32 are returned to the piles of the slabs at the original positions as tracking information regarding the management information of the master control device at the command center. The command will be issued again. (Step S28)

Based on this command, after the slabs 32 and 31 are stacked again on the uppermost slab 33 of the stack of slabs at the original position, the process returns to the step S1 described above again, so that the slabs 31 to 33 again The slabs 31 to 33 may be moved repeatedly by re-grabbing.
Even if the slabs 31 and 32 are mistakenly moved to another slab pile by the above operation, after returning to the original position, the regular slabs 31 to 33 are gripped again. By moving to a regular position, regular movement work can be completed.
In addition, since the tracking information of the management information of the master control device of the command center is corrected one by one during this moving work, the position correction is performed while grasping where the slabs 31 and 32 are located even during erroneous transmission. This means that you are working and there is no risk of misplaced slabs missing.

  If the slabs 31 to 33 are moved by the above-described method, even after the slabs having different numbers are moved by the hanging tool 11 for some reason, the slab position is surely corrected, and again A specified number of slabs can be moved to a specified position.

By the way, although it demonstrated only in the case where three slabs were conveyed in previous embodiment, the conveyance number of slabs may be about 1 sheet-4 sheets. However, the number of slabs to which the normal hanging tool 11 can be hung is limited to several sheets depending on the weight of the slab and the scale of the hanging tool 11, so when transporting a larger number of slabs, it is 2 to 3 times. What is necessary is just to divide and convey.
In addition, as the transport mode, there are cases where several slabs stacked in the middle of 8 sheets are picked up and transported. In that case, it is not necessary to move so that the slab that needs to be moved remains in the uppermost stage. Lift the slab from the pile and move it temporarily to another place, temporarily move the slab that needs to be moved, and then move the temporarily placed slab back to the original pile position. Just do it. Also in these operations, it is possible to accurately convey by combining the steps described above while controlling the hanging tool 11 using the control device 25 described above.
Furthermore, the formation position of the identification display in each slab is not limited to the central portion of the side surface of the slab as in the previous embodiment. Any position that can be recognized by the camera 21 in the stacked slabs may be used. In addition, the position where the camera 21 is provided may be any position in the cab 20, and not the cab 20 but a part of the traveling frame 6 near the cab 20 can recognize the slab identification display. Any position that is not affected by heat is acceptable.

FIG. 1 is a configuration diagram illustrating an example of a crane device, a slab, and a camera that are used when three slabs are gripped and moved by a hanging tool in an embodiment of the management method of the present invention. FIG. 2 is an explanatory view showing a state in which three slabs are gripped and moved by a hanging tool in the same form. FIG. 3 is a flowchart for each step until the three slabs are grasped and confirmed by a hanging tool in the same form. FIG. 4 is a flowchart for each step until the three slabs are moved and installed by a hanging tool in the same form. FIG. 5: is explanatory drawing which shows the state which moved three slabs to the wrong place with the hanging tool in the same form. FIG. 6 is a flowchart for each step until the slab is grasped and confirmed when the three slabs are moved to the wrong place by the hanger in the same form. FIG. 7 is a flowchart for each step until the slab is moved and installed when the three slabs are moved to the wrong place by the hanger in the same form. FIG. 8 is an explanatory view showing a state in which two slabs are moved by mistake when the three slabs are gripped and moved by a hanging tool in the same form. FIG. 9 is a flowchart for each step until a slab re-moving command is issued when two slabs are moved by mistake when the three slabs are gripped and moved by a hanging tool in the same embodiment. FIG. 10 is a configuration diagram of a general slab yard.

Explanation of symbols

6 Travel frame,
9 Traversing cart,
11 Hanging tool,
12 gripping claws,
15-18 slabs,
20 Driver's seat,
21 Camera (photographing device),
25 control device,
31-38 slabs,
100 slab yards (managed storage location),
105 Crane device (conveying device),

Claims (8)

Stacked piles of steel materials stacked in units of multiple pieces or single steel materials are arranged in a line at a management storage location, and the steel materials are placed in another location or another location by means of a transport device equipped with a hanger in the management storage location. In the method of managing steel materials while moving them to the top of the stack and placing them or stacking them,
In each steel material placed in the management storage place, a unique identification display is attached around the portion gripped by the hanging tool, and when the steel material is gripped by the lifting tool of the transport device, The reading device provided in the conveying device automatically detects the identification of the steel material in the vicinity of the hanger and recognizes and recognizes it by the control device connected to the reading device. A steel material characterized by automatically recognizing the destination of the transported steel material by reading the identification display of the other steel material when installed on the steel material, and managing the steel material based on these recognition results Management method.   A camera capable of telephotographing is installed as a recognition device at a portion away from the suspension of the transport device, and the steel material identification display is focused on the identification display of the steel material gripped for each gripping work of the steel material by the suspension tool. Automatically read and grasp, and automatically read the identification information of the other steel materials focusing on the identification display of the other steel materials for each installation work on the other steel materials conveyed by the hanging tool. The steel material management method according to claim 1, wherein automatic recognition of a movement destination of the steel material conveyed in step 1 is performed.   Based on the vertical movement and traversal of the lifting device of the moving device, perform the swinging operation of the camera, photographed so that the gripping position of the steel material by the lifting device is always at a specified position in the image of the camera, When the hanging material grips the steel material, the identification information of the steel material in the vicinity of the hanging material is read, and when the steel material is released by the hanging material, the other steel material is located below the released steel material. The steel material management method according to claim 1, wherein the position of the steel material is automatically recognized.   In order to pinch a steel material corresponding to the number of steel materials to be lifted by a hanging tool among a plurality of stacked steel materials, the hanging tool is lowered toward the steel material, and an identification display of the steel material through which the tip of the hanging material has passed is the camera. 4. After grasping | ascertaining and confirming the identification display of all the steel materials which the said hanging tool should hold | grip, it grasps a required number of steel materials with the said hanging tool, The one in any one of Claims 1-3 characterized by the above-mentioned. Steel management method. Stacked piles of steel materials stacked in units of multiple pieces or single steel materials are arranged in a line at a management storage location, and the steel materials are placed in another location or another location by means of a transport device equipped with a hanger in the management storage location. In a system that manages steel materials while moving them to the top of the stack and placing them or stacking them,
The transport device is provided with the steel material suspension, and a camera for photographing an identification display attached to the steel material when the steel material is gripped by the suspension device is provided in a part of the transport device. A control device for recognizing an identification display photographed by the camera is connected, and this control device automatically detects and recognizes the identification display of the steel material when the steel material is gripped by the hanging tool and conveys the steel material. When the steel material is installed on another steel material, it has a function of automatically detecting and recognizing the identification display of the other steel material by the camera and managing the steel material based on the recognition result. Steel material management system.   The control device has a function of recognizing a vertical position and a horizontal position of the hanger, a function of recognizing position information when the hanger grips a steel material, and a vertical direction and a horizontal direction of the camera. And a function for automatically recognizing the steel material identification display by the camera based on positional information when the hanging material grips the steel material. The steel material management system according to claim 5.   The control device has a function of automatically reading and recognizing the steel material identification display while focusing on the steel material identification display gripped each time the steel material is gripped by the hanging tool. Each time an installation work is performed on another steel material carried by a lifting tool, the identification display of the other steel material is automatically read while focusing on the identification display of the other steel material. The steel material management system according to claim 5 or 6, wherein the steel material management system has a function of performing automatic recognition. In order to pinch a steel material corresponding to the number of steel materials to be lifted by a hanging tool among a plurality of stacked steel materials, the hanging tool is lowered toward the steel material, and an identification display of the steel material through which the tip of the hanging material has passed is the camera. The function of grasping the necessary number of steel materials by the hanging tool after grasping and confirming the identification display of all the steel materials to be grasped by the hanging tool is added to the control device. The steel material management system according to any one of 7.

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