JP5031646B2 - Coil center detection system and method - Google Patents

Description

  The present invention relates to a coil center detection system and method for detecting the center in the plate width direction of a coil formed by winding a steel plate.

  In a hot rolling facility, a thin steel plate that has been finish-rolled to a thickness of about 1 mm to 30 mm by a finishing mill is wound up at a high speed by a winder (down coiler) to form a coiled product. After the winding is completed, as shown in FIG. 7, the coil C is extracted from the mandrel of the winding machine 51 by the coil car 52 and placed on the coil skid.

Japanese Patent Publication No. 63-52970

  When the coil C is extracted from the winder 51, the center deviation between the coil C and the coil car 52 may occur. In that case, when the coil C is placed on the coil skid 400 so that its axis S is horizontal (see FIG. 1), the center of the coil C in the plate width direction (perpendicular to the plane of FIG. 1) is the coil. The center of the skid 400 is shifted. If the coil C is placed on the coil skid 400 in a state where the center shift is caused in this way, for example, when the coil C is subsequently lifted from the coil skid 400, the coil C may fall.

  As a configuration for detecting the center deviation of the coil C, a configuration as shown in FIG. That is, the coil car 52 is moved by the cylinder cylinder 53 and stopped at a fixed point. The SIRUNAC cylinder 53 is a cylinder part that incorporates a part of the sensor function, and can directly detect the movement of the cylinder. Further, a sensor 54 (CMD: Cold Metal Detector) for detecting the passage of the coil C is arranged in the direction of extracting the coil C. Then, based on the timing at which the sensor 54 detects the passage of the coil C and the stop timing of the coil car 52, the center deviation between the coil C and the coil car 52 is detected.

  However, in such a configuration, depending on the movable range of the coil car 52, a special specification must be used for the cylinder cylinder 53, which increases the cost. In addition, the sensor 54 must be disposed near the coil C, which takes time and effort for environmental measures and maintenance measures.

  As a technique related to coil center detection, Patent Document 1 discloses a configuration in which a coil carriage is equipped with a sensor that moves from one end edge point to the other end edge point of a mounted coil to detect a coil width. .

  However, in such a configuration, a mechanism for moving the sensor is required, which is subject to equipment restrictions.

  The present invention has been made in view of the above points, and an object of the present invention is to detect the edge position of the coil width direction of the coil with a simple configuration and to detect the center of the coil width direction of the coil. To do.

The center detection system for a coil according to the present invention irradiates light on the surface of the coil from an imaging device that images the surface of the coil formed by winding a steel plate from the radial direction, and substantially in the same direction as the imaging direction of the imaging device. A light source, and a detection device that detects an edge position of the coil in the plate width direction based on an image captured by the imaging device, and detects a center of the coil in the plate width direction using the detected edge position ; The detection device detects an edge position in the plate width direction of the coil based on brightness in a first region including a portion close to the imaging device on a surface of the coil on a photographed image by the imaging device. The edge position in the plate width direction of the coil based on the lightness in the second area different from the first area on the image taken by the first edge position detection means and the imaging device. The second edge detection means for detecting the edge position detected by the first edge detection means and the edge position detected by the second edge detection means, and when a predetermined condition is satisfied, And an edge position correcting means that uses the edge position detected by the second edge detecting means instead of the edge position detected by the first edge detecting means as an edge position in the plate width direction of the coil. To do.
Another feature of the coil center detection system according to the present invention is that the coil is placed on a coil skid so that its axis is horizontal.
Another feature of the coil center detection system according to the present invention is that the predetermined condition is that the edge position detected by the second edge detection means is detected by the first edge detection means. It is in that it is inside the coil more than a predetermined value compared with the position.
In the coil center detection method of the present invention, an imaging device that photographs the surface of a coil formed by winding a steel plate from its radial direction, and the surface of the coil is irradiated from substantially the same direction as the imaging direction of the imaging device. A coil center detection method using a light source, wherein an edge position in the plate width direction of the coil is detected based on a photographed image by the imaging device, and a plate width direction of the coil is detected using the detected edge position. A detection procedure for detecting the center of the coil, wherein the detection procedure is a first region including a portion of the surface of the coil close to the imaging device on the image captured by the imaging device, based on the brightness. A first edge position detection procedure for detecting an edge position in the plate width direction of the coil, and a second area different from the first area on the photographed image by the imaging device, based on lightness. The second edge detection procedure for detecting the edge position of the coil in the plate width direction is compared with the edge position detected by the first edge detection procedure and the edge position detected by the second edge detection procedure. If the predetermined condition is met, the edge position detected by the second edge detection procedure instead of the edge position detected by the first edge detection procedure is the edge position in the plate width direction of the coil. and wherein the Rukoto to have a and correction procedure.

ADVANTAGE OF THE INVENTION According to this invention, the center of the plate width direction of a coil can be detected with the simple structure using an imaging device. And since the surface of a coil is image | photographed from the radial direction, it can respond also to the coil from which a diameter differs. Furthermore, a telescope is generated by using the edge position detected at the detection position of the second area under a predetermined condition as the position for detecting the edge position, having the first area and the second area. It is possible to prevent misidentification of the edge position even during

Preferred embodiments of the present invention will be described below with reference to the accompanying drawings.
1 and 2 are diagrams illustrating a schematic configuration of a coil center detection system according to the present embodiment. As shown in FIG. 1, the coil C extracted from the winder is placed on the coil skid 400 so that its axis S is horizontal.

  Reference numeral 100 denotes an imaging device (CCD camera), which is installed so as to photograph the surface of the coil C placed on the coil skid 400 from its radial direction. That is, the imaging optical axis (imaging center) 100a of the imaging device 100 and the axis S of the coil C are orthogonal to each other. An infrared cut filter 101 that cuts infrared rays is installed on the photographing optical axis 100a in order to suppress the influence of temperature fluctuation of the coil C.

  Reference numeral 200 denotes a light source that irradiates light on the surface of the coil C from substantially the same direction as the imaging direction of the imaging apparatus 100. The light source 200 is installed in the immediate vicinity of the imaging apparatus 100 (for example, next to the imaging apparatus 100) or around the imaging optical axis 100a in order to irradiate light from substantially the same direction as the imaging direction of the imaging apparatus 100. Since the vicinity of the coil C is a place where the operator's work frequency is high, diffuse light such as sodium lamp or mercury lamp is used as the light source 200 instead of special illumination such as laser light.

  Reference numeral 300 denotes a detection device that displays a photographed image by the imaging device 100 on the monitor 306 and detects the edge position of the coil C in the plate width direction based on the photographed image and details the detected edge position. Is used to detect the center of the coil C in the plate width direction. Then, a deviation amount between the center of the coil C in the plate width direction and the preset center of the coil skid 400 is obtained, and if the deviation amount exceeds a predetermined amount, a warning is given to the operator.

FIG. 3 schematically illustrates a state in which an actual captured image by the imaging apparatus 100 is displayed on the monitor of the detection apparatus 300. In FIG. 3, the horizontal direction is the horizontal direction. On the surface of the coil C, the light irradiated by the light source 200 is regularly reflected (specular reflection). Therefore, in the portion of the surface of the coil C close to the imaging device 100, the light irradiated by the light source 200 is incident and reflected substantially vertically, and the amount of light incident on the imaging device 100 increases (see arrow r _{1 in} FIG. 1). It appears white (bright). On the other hand, in the background other than the coil, or on the surface of the coil C that is away from the imaging device 100 (the upper part or the lower part of the coil C placed so that the axis S is horizontal), the light irradiated by the light source 200 is emitted. Since the amount of light that is incident and reflected obliquely and enters the imaging device 100 is reduced (see arrow r _{2 in} FIG. 1), the image appears black (dark).

  In addition, when there are defects (dirt or wrinkles) on the surface of the coil C, these defects often appear black on the photographed image, but by photographing with halation, the defect part can also appear white. .

  In the present embodiment, the imaging apparatus 100 performs imaging at a predetermined cycle, and a captured image is displayed on the monitor 306 of the detection apparatus 300 in real time. However, the detection apparatus 300 performs the image processing described below only when receiving a timing signal from the coil car (for example, a signal for notifying that the coil C is placed on the coil skid 400). That is, the image processing is executed only once for one coil C.

  Hereinafter, the processing by the detection apparatus 300 will be described in detail. FIG. 4 is a block diagram illustrating a functional configuration of the detection apparatus 300. The detection apparatus 300 includes a first edge position detection unit 301, a second edge position detection unit 302, an edge position correction unit 303, a center deviation calculation unit 304, and a warning unit 305. In addition, a monitor (image display unit) 306 that displays an image taken by the imaging apparatus 100 is provided.

In the first edge position detection unit 301, left and right regions E ₁ and E ₂ including a portion close to the imaging device 100 on the surface of the coil C are set on the photographed image by the imaging device 100. As shown in FIGS. 2 and 3, the regions E ₁ and E ₂ are horizontally long rectangles so as to surround a portion of the surface of the coil C that is close to the imaging device 100, that is, a portion where light irradiated by the light source 200 enters and reflects substantially vertically. The shape is set.

Then, the first edge position detection unit 301 detects the edge position of the coil C in the plate width direction based on the brightness in each of the areas E ₁ and E ₂ . Figure 5 is a diagram for explaining a processing example of detecting a DS (drive side) side edge position of the plate width direction of the coil C in the area E ₂ of. As shown in FIG. 5 (a), in the region E _2, at first, each position in the horizontal direction, integrating the brightness in the vertical direction. Next, as shown in FIG. 5B, a differentiation process is performed in order to make it easy to catch the brightness change point. Furthermore, as shown in FIG. 5C, a moving average is taken to smooth the waveform. The reason for smoothing the waveform is to suppress the influence of disturbances such as defects (dirt and wrinkles) on the surface of the coil C and water droplets. Then, as shown in FIG. 5 (d), locate the position coinciding with a predetermined threshold to detect an edge position of the plate width direction of the coil C in the area E _2.

  As shown in FIG. 5D, when searching for a position (edge position in the plate width direction) that matches a predetermined threshold, a method of searching from the outside of the coil C (left side of FIG. 5D), A method of searching from the inside of C (the right side of FIG. 5D) can be considered. That is, there are a method for searching for a position where the color changes from black to white and a method for searching for a position where the color changes from white to black. Which is adopted may be determined in advance according to the plate width of the coil C or the like. When searching for a position where the color changes from black to white on the captured image, it is possible to prevent a surface defect (dirt or wrinkle) of the coil C from being mistaken as an edge position. On the other hand, when searching for a position where the color changes from white to black on the captured image, it is possible to prevent misidentification of the water vapor as an edge position when there is water vapor outside the coil C (which appears white in the captured image). it can.

Note that the processing example for detecting the edge position in the WS (work side) area E ₁ is also opposite to that in FIG. 5, but the processing content itself is the same.

In the second edge position detection unit 302, areas E ₃ and E ₂ different from the areas E ₁ and E ₂ are set on the image captured by the imaging apparatus 100. Region E _3, as shown in FIGS. 2 and 3, the vicinity of the upper region E _1, is set in a region E ₁ and the parallel oblong rectangular shape.

Then, the second edge position detection unit 302 detects the edge position of the plate width direction of the coil C on the basis of the brightness in the area E _3. Note that the process of detecting the edge position in the area E ₃ is the same as the process of detecting the edge position in the areas E ₁ and E ₂ (see FIGS. 5A to 5D). Omitted.

As shown in FIG. 6, the coil C may have a telescope (also referred to as telescopic) whose inner portion protrudes. And when telescopic is generated, as shown in FIG. 3, in the part near the imaging device 100 in the surface of the telescopic part C ′, the irradiation light from the light source 200 is incident and reflected substantially perpendicularly like the surface of the coil C. However, since the amount of light incident on the imaging device 100 increases, the image appears white (brighter). As a result, since the coil C and the telescopic portion C ′ are white and continuous in the region E ₁ , there is a possibility that the tip of the telescopic portion C ′ is misidentified as the edge position in the plate width direction of the coil C.

Therefore, in order to prevent misidentifying the tip of the telescopic portion C ′ as the edge position in the plate width direction of the coil C, the edge position in the plate width direction of the coil C is also detected in the region E _3. . That is, even in the telescopic part C ′, a part (upper part or lower part) away from the imaging device 100 appears black (darker), but the telescopic part C ′ has a larger curvature (smaller radius) than the coil C, and thus appears white. Narrows up and down. That is, near the top and bottom of the region E ₁ , the coil C still appears white, but the telescopic portion C ′ appears black, and the edge position of the coil C in the plate width direction can be captured.

In the present embodiment, since the fixed in the direction of telescopic occurs has been described region E ₃ in the vicinity over the area E ₁ of the WS side, a region E ₃ in the vicinity over the area E ₂ of the DS side A similar region E ₄ (not shown) may be set. Further, instead of the vicinity of the upper region E _1, E _2, it may be set area E _3, E ₄ below vicinity.

In the present embodiment, the setting of the areas E ₃ and E ₄ has been described as a countermeasure for misidentifying the edge position by telescopic, but the edge positions in the areas E ₁ and E ₂ are reconfirmed regardless of the presence or absence of the telescopic. The areas E ₃ and E ₄ may be used in the meaning.

The edge position correction unit 303 compares the edge position in the region E ₁ detected by the first edge detection unit 301 with the edge position in the region E ₃ detected by the second edge detection unit 302. Then, for example, an edge position in the region E ₃ is, if compared to the edge position in the region E ₁ to the inside of a predetermined value or more coils C, the tip of the telescopic section in region E ₁ in the plate width direction of the coil C Assuming that it is the edge position, the edge position in the area E ₃ is not the edge position in the area E ₁ but the edge position in the plate width direction of the coil C.

  The center deviation calculation unit 304 calculates an intermediate position between the left and right edge positions in the plate width direction of the coil C detected as described above, and sets it as the center position in the plate width direction of the coil C. Then, compared with a preset center position of the coil skid 500 (skid center SC in FIG. 3), the difference is set as the center deviation amount of the coil C.

  When the center deviation amount of the coil C calculated by the center deviation calculation unit 304 exceeds a predetermined amount (threshold value), the warning unit 305 displays a warning on the monitor 306 or outputs an alarm, for example. A warning is issued.

  Further, the plate width of the coil C may be calculated from the left and right edge positions in the plate width direction of the coil C detected as described above. In this case, the plate width of the coil C is transmitted from the host system, and if the difference between the two plate widths exceeds the threshold value, the operator may be mistaken for the edge position. A warning may be issued.

  Although not shown, various values (left and right edge positions in the plate width direction of the coil C, center position of the coil C, center deviation amount, plate width, etc.) detected and calculated by the detection device 300 are displayed on the monitor 306. You may make it display on a screen.

  Further, various values of each coil C detected and calculated by the detection apparatus 300 may be left in a log and stored together with the image of the coil C.

  As described above, the center of the coil C in the plate width direction and further the center shift amount on the coil skid 400 can be detected by one fixed imaging device 100. In addition, since the surface of the coil C is photographed from the radial direction, even if the diameter of the coil C is different, it is still the portion that is close to the imaging device 100 that appears white. Can also respond.

  Note that the present invention does not limit the number of imaging devices and light sources to one. For example, when handling a coil C having a wide plate width, a plurality of imaging devices and light sources are arranged in the plate width direction of the coil C. It doesn't matter. For example, when handling a wide range of coils C from a small diameter to a large diameter, the imaging device 100 may be movable back and forth in the direction of the photographing optical axis 100a.

  Specifically, the detection device of the present invention can be realized by a computer device including a CPU and various memories, and may be configured by a single device or a plurality of devices.

  The object of the present invention can also be achieved by supplying a storage medium storing software program codes for realizing the functions of the above-described embodiments to a system or apparatus. In this case, the computer (or CPU or MPU) of the system or apparatus reads and executes the program code stored in the storage medium.

  In this case, the program code itself read from the storage medium realizes the functions of the above-described embodiments, and the program code itself and the storage medium storing the program code constitute the present invention. As a storage medium for supplying the program code, for example, a flexible disk, a hard disk, an optical disk, a magneto-optical disk, a CD-ROM, a CD-R, a magnetic tape, a nonvolatile memory card, a ROM, or the like can be used.

It is a figure which shows schematic structure of the center detection system of the coil of this embodiment. It is a figure which shows schematic structure of the center detection system of the coil of this embodiment. It is a schematic diagram of the state which displayed the actual picked-up image on the monitor of the detection apparatus. It is a block diagram which shows the function structure of a detection apparatus. It is a figure for demonstrating the process example which detects the edge position of the plate width direction of a coil. It is a figure which shows the example of the coil which telescope generate | occur | produced. It is a figure which shows the state which has extracted coil winding from the winding machine.

Explanation of symbols

C coil C ′ telescopic unit 100 imaging device 101 infrared cut filter 200 light source 300 detection device 301 first edge position detection unit 302 second edge position detection unit 303 edge position correction unit 304 center deviation calculation unit 305 warning unit 306 monitor 400 Coil skid

Claims (4)

An imaging device for photographing the surface of a coil formed by winding a steel plate from its radial direction;
A light source that irradiates light on the surface of the coil from substantially the same direction as the imaging direction of the imaging device;
A detection device that detects an edge position in the plate width direction of the coil based on a photographed image by the imaging device, and detects a center in the plate width direction of the coil using the detected edge position ;
The detection device includes:
A first edge position for detecting an edge position in the plate width direction of the coil based on lightness in a first region including a portion close to the imaging device on a surface of the coil on a photographed image by the imaging device. Detection means;
Second edge detection means for detecting an edge position in the plate width direction of the coil on the basis of lightness in a second region different from the first region on a photographed image by the imaging device;
When the edge position detected by the first edge detection means and the edge position detected by the second edge detection means are compared and a predetermined condition is met, the edge detected by the first edge detection means A coil center detection system , comprising: edge position correction means for setting the edge position detected by the second edge detection means instead of the position to an edge position in the plate width direction of the coil. The coil center detection system according to claim 1 , wherein the coil is placed on a coil skid so that an axis thereof is horizontal. The predetermined condition is that the edge position detected by the second edge detection means is inside the coil by a predetermined value or more compared to the edge position detected by the first edge detection means. The coil center detection system according to claim 1, wherein the coil center detection system is a coil center detection system. Coil center detection method using imaging device for photographing surface of coil formed by winding steel plate from radial direction thereof, and light source for irradiating light to surface of coil from substantially same direction as photographing direction of imaging device Because
A detection procedure for detecting an edge position in the plate width direction of the coil based on a photographed image by the imaging device, and detecting a center in the plate width direction of the coil using the detected edge position ;
The detection procedure includes:
A first edge position for detecting an edge position in the plate width direction of the coil based on lightness in a first region including a portion close to the imaging device on a surface of the coil on a photographed image by the imaging device. Detection procedure;
A second edge detection procedure for detecting an edge position in the plate width direction of the coil on the basis of lightness in a second region different from the first region on a captured image by the imaging device;
The edge position detected by the first edge detection procedure is compared with the edge position detected by the second edge detection procedure, and when the predetermined condition is met, the edge detected by the first edge detection procedure It said second center detection method of the coil, characterized in Rukoto which have a edge position correction procedure the edge position detected by the edge detection procedure and the plate width direction of the edge position of the coil rather than position.

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