JP6094502B2 - Bending shape measuring device and bending shape measuring method of rod-shaped body - Google Patents

Description

  The present invention relates to a bent shape measuring apparatus and a bent shape measuring method for a rod-shaped body that measures the amount of bending on-line in a conveyance line that conveys a rod-shaped body such as round steel bar or circular pipe steel in the longitudinal direction.

The bending of a rod-like body such as a round steel bar or a circular pipe steel is an important management item in terms of quality, and various methods have been taken to accurately measure the bending.
As a method of measuring the bending of the rod-shaped body, there are a measuring method by manual measurement that is measured by a measurer using a straight scale, a measuring method by automatic measurement that measures bending by using a sensor such as a distance meter, and the like. In general, the measurement method by manual measurement can measure with high accuracy, but requires more labor and time than the automatic measurement. For this reason, as a method for measuring the bending of the rod-like body, there is a demand for a bending measuring method by automatic measurement that can measure the bending with high accuracy.

  For example, in Patent Document 1, the displacement in the direction orthogonal to the conveyance direction is conveyed by a distance d / m by three or more displacement sensors provided at equal intervals in the conveyance direction of the cylindrical long material that is a rod-shaped body. Each time the measurement is performed, a determinant that associates the measured value of the displacement with the shape data is solved on the assumption that the local bend amount is 0, thereby obtaining a bend shape over the entire length of the material having a small local bend. A method is disclosed.

JP 2008-96294 A

However, the bending shape measuring method disclosed in Patent Document 1 has a problem that the calculation method for the bending of the rod-like body is complicated, and thus the calculation processing time becomes long when the calculation result is required in real time.
Therefore, the present invention has been made paying attention to the unsolved problems of the above-described conventional example, and a bent shape measuring device and a bent shape of a rod-like body capable of calculating the bent shape of the rod-like body in a short calculation processing time. The purpose is to provide a measurement method.

In order to achieve the above-mentioned object, the bent shape measuring apparatus for a rod-shaped body according to one aspect of the present invention is disposed at a constant distance along the transport path of the transported rod-shaped body, and the transport direction of the rod-shaped body And at least three edge detectors that continuously detect the position of the rod-shaped body from two directions intersecting each other in a plane orthogonal to each other, and the longitudinal direction of the rod-shaped body divided by a certain distance among the detection results of the edge detector By combining the detection results at the same detection position among the plurality of detection results included in the edge data, the edge data extraction unit that extracts edge data that is a plurality of detection results corresponding to the detection position of A profile deriving unit for deriving a profile indicating the bending in the longitudinal direction of the rod-shaped body in each of the two directions and a profile in each of the two directions are combined. In Rukoto comprises a synthetic profile deriving unit that derives a synthetic profiles showing the bending of the longitudinal rod member, the edge data extraction section, among the detection result, a plurality of edge data corresponding to the different detection positions from each other The profile deriving unit extracts the plurality of detection results included in each edge data, and combines the detection results at the same detection position to show the bending in the longitudinal direction of the rod-shaped body in each of the two directions. A first profile derivation unit for deriving a plurality of first profiles, and a second profile derivation for deriving a second profile indicating a longitudinal bending of the rod-like body as a profile based on the plurality of first profiles. and parts, that have a.

Further, the curved shape measuring apparatus of this, the second profile deriving unit, a plurality of first profile, corrected by rotation and translation, may derive second profile by synthesizing.

Further, the method for measuring the bent shape of the rod-shaped body according to one aspect of the present invention is arranged in a plane perpendicular to the conveyance direction of the rod-shaped body, which is disposed at a constant distance along the conveyance path of the rod-shaped body to be conveyed. Among the detection results of the three edge detection devices that continuously detect the positions of the rod-shaped bodies from two directions intersecting each other at a predetermined interval, a plurality of detections corresponding to the detection positions in the longitudinal direction of the rod-shaped bodies separated by a certain distance Edge data extraction step for extracting the edge data as a result, and after the edge data extraction step, at least two detection results included in the edge data are combined in the two directions by combining the detection results at the same detection position. A profile deriving step for deriving a profile indicating the longitudinal bending of the rod-shaped body in each direction, and after the profile deriving step, in each of the two directions. By combining the profile that, seen containing a synthetic profile deriving step of deriving a synthetic profiles showing the bending of the longitudinal rod member, and when the edge data extraction step, out of the detection result, corresponding to the different detection positions from each other The plurality of edge data is extracted, and in the profile derivation step, among the plurality of detection results included in each edge data, the detection results at the same detection position are combined with each other so that the rod-shaped body in each of the two directions A plurality of first profiles indicating the longitudinal bending of the rod-shaped body are derived as profiles based on the plurality of first profiles .

Et al is, in bent shape measuring method of the rod-like body, when the edge data extraction step, when the second profile deriving step, a plurality of first profile that is corrected by rotation and translation, to synthesize A second profile may be derived.

  According to the bent shape measuring apparatus and the bent shape measuring method of the present invention, the bent shape of the rod-like body can be calculated in a short calculation processing time.

It is a whole lineblock diagram showing the bent shape measuring device of the bar object concerning a 1st embodiment of the present invention. It is a front view which shows the structure in an edge position detection part. It is explanatory drawing which shows the relationship between the measurement position and the 1st profile in the embodiment. It is a flowchart which shows the measuring method of the bending shape in the embodiment. It is explanatory drawing explaining the measurement principle of a position detector. It is explanatory drawing which shows the derivation | leading-out method of the 1st profile in the embodiment. It is a whole block diagram which shows the bending shape measuring apparatus which concerns on the 2nd Embodiment of this invention. It is explanatory drawing which shows the relationship between the measurement position in this embodiment, and a 1st profile. It is a flowchart which shows the derivation | leading-out method of the synthetic | combination profile in the embodiment. It is a graph which shows the regression line of the 1st profile in the embodiment. It is a graph which shows rotation correction of the 1st profile in the embodiment. It is a graph which shows the parallel displacement correction | amendment of the 1st profile in the embodiment. It is a graph which shows the 2nd profile in the embodiment. It is a graph which shows 0 point correction | amendment of the 2nd profile of the X-axis direction in the embodiment. It is a graph which shows the 1st profile in the Example of this invention. It is a graph which shows the 1st profile after correction | amendment by the rotation and translation in the Example. It is a graph which shows the 2nd profile of the X-axis direction and the Y-axis direction in the Example. It is a graph which shows the synthetic | combination profile in the Example.

DESCRIPTION OF EMBODIMENTS Hereinafter, modes for carrying out the present invention (hereinafter referred to as embodiments) will be described in detail with reference to the drawings.
<1. First Embodiment>
[1-1. Device configuration]
First, with reference to FIG. 1 and FIG. 2, the bending shape measuring apparatus 20a which concerns on the 1st Embodiment of this invention is demonstrated. As shown in FIG. 1, the bending shape measuring apparatus 20a measures the bending shape in the longitudinal direction of the rod-shaped body 10 that is conveyed in the positive direction of the Z-axis with the longitudinal direction as the Z-axis direction. The rod-shaped body 10 is a round bar steel, a circular pipe steel or the like. In the example illustrated in FIG. 1, the vertical cross section is a round bar steel having a circular cross section and a circle diameter of about 90 to 260 mm.

The bending shape measuring apparatus 20a according to the present embodiment includes guide rolls 30a and 30b, edge position detection units 40a, 40b, and 40c, a rod-shaped body detection sensor 50, and controllers 60a, 60b, 60c, 60d, 60e, and 60f. And an arithmetic unit 70a.
The guide rolls 30a and 30b are rolls formed in a V shape or a drum shape in which the diameter gradually increases from the axial center to both ends. In the example illustrated in FIG. 1, the guide roll 30 a is provided on the upstream side in the conveyance direction of the rod-shaped body 10, and the guide roll 30 b is provided on the downstream side in the conveyance direction of the rod-shaped body 10.

The three edge position detectors 40a, 40b, and 40c are arranged between the two guide rolls 30a and 30b in the conveying direction of the rod-like body 10 and maintained at a constant distance. Among these, the edge position detection unit 40 a is provided on the most upstream side in the conveyance direction of the rod-shaped body 10, and the edge position detection unit 40 c is provided on the most downstream side in the conveyance direction of the rod-shaped body 10. In the present embodiment, the edge position detectors 40a, 40b, and 40c are arranged 500 mm apart from each other.
The edge position detectors 40a, 40b, and 40c include position detectors 42a, 42b, and 42c arranged in parallel with the X-axis direction, and position detectors 44a, 44b, and 44c provided in parallel with the Y-axis direction. Prepare. In the example illustrated in FIG. 1, the edge position detector 40a includes a position detector 42a and a position detector 44a, and the edge position detector 40b includes a position detector 42b and a position detector 44b. The edge position detector 40c is provided with a position detector 42c and a position detector 44b. In the example shown in FIGS. 1 and 2, the X axis is an axis inclined +45 degrees from the horizontal plane, and the Y axis is an axis inclined +135 degrees from the horizontal plane. Further, the position detectors 42a, 42b, 42c and the position detectors 44a, 44b, 44c provided in the same edge position detectors 40a, 40b, 40c are orthogonal to each other in substantially the same plane, and the rod-shaped body 10 is conveyed. They are arranged at a distance slightly shifted in the direction.

  The position detectors 42a, 42b, and 42c are laser-type or LED-type light emitting / receiving sensors each including a light projector 422a, 422b, and 422c and a light receiver 424a, 424b, and 424c. (Edge) can be detected. Similarly, the position detectors 44a, 44b, and 44c are light projecting / receiving sensors each including a light projecting device 442a, 442b, and 442c and a light receiving device 444a, 444b, and 444c, respectively.

FIG. 2 is a front view showing the configuration of the edge position detector 40a. In addition, although the structure in edge position detection part 40b, 40c is not shown in figure, it shall have the structure similar to the edge position detection part 40a mentioned later.
As illustrated in FIG. 2, the position detector 42 a is composed of a light projector 422 a and a light receiver 424 a that are arranged to face each other in the X-axis direction with the rod-shaped body 10 interposed therebetween. The position detector 42a is configured to receive a laser beam or LED light having a band shape in the Y-axis direction emitted from the projector 422a by a light receiver 424a in which photoelectric conversion elements are arranged in the Y-axis direction. Here, the projector 422a is arranged so that the laser light or the LED light irradiates the lower side of the rod-shaped body 10.
The position detector 42a measures the edge position of the rod-shaped body 10 in the Y-axis direction by detecting the length of a shadow portion caused by the light from the light projector 422a being blocked by the rod-shaped body 10 with the light receiver 424a. The position detector 42a outputs the measured edge position to the controller 60a as an edge position detection result. The edge position detection result is data indicating at least a detection position indicating a length in the longitudinal direction from the tip of the rod-shaped body 10, an edge position detected at each detection position, and a detection time.

  Further, the position detector 44a includes a projector 442a and a light receiver 444a as shown in FIG. Compared with the position detector 42a, the position detector 44a is a direction in which the light projector 442a and the light receiver 444a face each other, a direction in which laser light or LED light forms a band, an arrangement direction of photoelectric conversion elements, and a position measurement of the rod-shaped body 10. Other configurations are the same as those of the position detector 42a except that the directions are different. That is, the light projector 442a and the light receiver 444a are arranged to face each other so as to sandwich the rod-shaped body 10 in the Y-axis direction so that the edge position of the rod-shaped body 10 in the X-axis direction can be measured. The light receiver 444a receives a laser beam having a strip shape in the X-axis direction emitted from the projector 442a by a photoelectric conversion element arranged in the X-axis direction. Further, the projector 442a is arranged so that the laser beam or the LED beam irradiates the lower side of the rod-shaped body 10.

Further, the position detector 42a and the position detector 44a continuously detect the edge position of the conveyed rod-shaped body 10 at regular intervals. For example, the position detector 42a and the position detector 44a are each 0.8 milliseconds from when the tip of the rod-shaped body 10 passes through the guide roll 30a to when the tail end of the rod-shaped body 10 passes through the guide roll 30b. Edge positions are detected at intervals.
The controllers 60a, 60b, 60c, 60d, 60e, and 60f are provided in connection with the position detectors 42a, 42b, 42c, 44a, 44b, and 44c, respectively. The controllers 60a, 60b, 60c, 60d, 60e, 60f receive edge position detection results transmitted from the connected position detectors 42a, 42b, 42c, 44a, 44b, 44c, and receive the received edge position detection results. It transmits to the arithmetic unit 70a.

The rod-like body detection sensor 50 is a contact type, optical reflection type or optical transmission type position detection sensor, and detects the rod-like body 10 conveyed on the upstream side of the bending shape measuring apparatus 20a. For example, the rod-like body detection sensor 50 detects passage of the tip or tail end of the rod-like body 10 at a predetermined position upstream of the bent shape measuring apparatus 20a. The detection result of the rod-like body detection sensor 50 is transmitted to the arithmetic device 70a.
The computing device 70a includes a displacement amount calculation unit 71a, a storage unit 72a, an edge data extraction unit 73a, a profile derivation unit 74a, and a composite profile derivation unit 75a.

Based on the edge position detection signal transmitted from the controllers 60a, 60b, 60c, 60d, 60e, and 60f and the reference position stored in advance in the storage unit 72a described later, the displacement amount calculating unit 71a The displacement amount is calculated as a displacement amount calculation result. The displacement amount is the difference between the edge position of the rod-shaped body 10 and the reference position, and details will be described later.
The storage unit 72a stores the displacement amount calculation result calculated by the displacement amount calculation unit 71a, and each data such as a reference position, edge data, and profile, which will be described later.
The edge data extraction unit 73a includes a plurality of detection positions corresponding to detection positions separated by a distance corresponding to a fixed distance provided with the edge position detection units 40a, 40b, and 40c among the displacement amount calculation results stored in the storage unit 72a. The displacement amount calculation result is extracted as edge data.

  In this embodiment, since the edge position detection units 40a, 40b, and 40c are arranged at intervals of 500 millimeters, the edge data is calculated as a displacement amount calculation result at the positions of the rod-like bodies 10 that are divided at intervals of 500 millimeters in the longitudinal direction. It becomes. For example, when the length of the rod-shaped body 10 in the longitudinal direction is 2400 millimeters, the edge data extraction unit 73a uses the displacement amount calculation result including detection positions of 0 millimeters, 500 millimeters, 1000 millimeters, 1500 millimeters, and 2000 millimeters as an edge. Extract as data. Further, the edge data extraction unit 73a extracts edge data for each of the two directions of the X-axis direction and the Y-axis direction.

Based on the edge data extracted by the edge data extraction unit 73a, the profile deriving unit 74a has a curved shape in the longitudinal direction in each of the X-axis direction and the Y-axis direction, and shows a profile indicating the amount of displacement at a plurality of locations in the longitudinal direction. To derive. The profile deriving unit 74a in the present embodiment includes a first profile deriving unit 742a, and derives the first profile as a profile. The first profile deriving unit 742a combines the displacement amounts at the same position in the longitudinal direction of the rod-shaped body 10 among the plurality of displacement amount calculation results included in the extracted edge data, thereby obtaining the first profile. To derive. The first profile is a profile derived based on one edge data.
The composite profile deriving unit 75a combines the first profiles in the two directions of the X-axis direction and the Y-axis direction derived by the profile deriving unit 74a, so that a composite profile indicating the bending in the longitudinal direction of the rod-shaped body 10 is obtained. To derive.

[1-2. Measuring method of bent shape]
(1-2-1. Overview of Measurement Method)
Next, with reference to FIG. 3, the outline of the profile derivation method in the bending shape measuring apparatus 20a according to the present embodiment will be described. FIG. 3 is an explanatory diagram showing edge data extracted from the edge position detection results by the edge position detection units 40a, 40b, and 40c, and a first profile that is derived. In the example illustrated in FIG. 3, among the edge position detection results detected by the edge position detection units 40a, 40b, and 40c, the edge position detection results at the detection times t1, t4, t7, t10, and t13 are used as edge data. Deriving one profile.

As shown in FIG. 3, the edge position detection results at the detection times t1, t4, t7, t10, and t13 have detection results at the same detection positions as the edge position detection results at other detection times. For example, the edge position detection result at the detection time t1 has the edge position detection result at the detection positions of 500 millimeters and 1000 millimeters, similarly to the edge position detection result at the detection time t4. Further, for example, the edge position detection result at the detection time t4 has the edge position detection result at the detection positions of 500 millimeters, 1000 millimeters, and 1500 millimeters similarly to the detection times t1 and t7. At this time, the first profile is derived by combining the results of the same detection positions at different detection times and performing this process on all of the plurality of edge position detection results extracted as edge data.
With such an derivation method, in the example illustrated in FIG. 3, it is possible to derive the first profile indicating a bent shape with a length of 0 to 3000 mm out of the total length of 3400 mm of the rod-shaped body 10.

(1-2-2. Detailed Description of Measurement Method)
Next, with reference to FIGS. 3-6, the detail of the measuring method of the bending shape of the rod-shaped body 10 in the bending shape measuring apparatus 20a which concerns on this embodiment is demonstrated. In the present embodiment, the first profile and the combined profile are derived as the bent shape of the rod-shaped body 10. The composite profile is a profile obtained by combining the profiles in the X-axis direction and the Y-axis direction, and is a reference position of the edge position of the rod-like body 10 on a plane parallel to the XY plane perpendicular to the conveyance direction of the rod-like body 10. The maximum value deviated from

  First, as shown in FIG. 4, the edge position detectors 40a, 40b, and 40c detect the edge position of the rod-shaped body 10 in the X-axis direction and the Y-axis direction (S100). The detected edge position detection results are transmitted through the controllers 60a, 60b, 60c, 60d, 60e, and 60f, respectively, and stored in the storage unit 72a. The edge position detection result may be a value obtained by leveling the detected values in order to reduce the influence of abnormal values due to scales, burrs, and the like. For example, the detection result of the edge position may be data at intervals of 8 milliseconds, in which values detected at intervals of 0.8 milliseconds are averaged for every 10 consecutive points to obtain a value of one point.

  In step S100, the edge position detection operation is performed so that the entire length of the rod-shaped body 10 is detected. For example, the edge position detection operation is performed after the tip of the rod-shaped body 10 passes through the guide roll 30a until the tail end of the rod-shaped body 10 passes through the guide roll 30b. Here, whether or not the rod-shaped body 10 has passed through the guide rolls 30 a and 30 b is determined based on the detection result of the rod-shaped body detection sensor 50. For example, whether or not the tip of the rod-shaped body 10 has passed through the guide roll 30a is determined by the rod-shaped body detection sensor 50 detecting that the tip of the rod-shaped body 10 has passed over the guide roll 30a. Further, for example, whether or not the tail end has passed through the guide roll 30b is determined by determining whether the rod-like body detection sensor 50 has passed the guide roll 30a after the tail end of the rod-like body 10 has passed. Accordingly, it is determined that a predetermined time has elapsed.

After step S100, the displacement amount calculation unit 71a calculates displacement amounts in the X-axis direction and the Y-axis direction from the edge position detection result (S104). The displacement amount is calculated as a difference between the edge position detection result and a reference position stored in advance in the storage unit 72a. The calculated displacement amount is stored in the storage unit 72a as a displacement amount calculation result.
Here, with reference to FIG. 5, the calculation method of the displacement amount in this embodiment is demonstrated in detail. The displacement amount indicates how much the edge, which is the radial end of the rod-shaped body 10 in the X-axis direction and the Y-axis direction, deviates from the reference position at the detection positions of the edge position detection units 40a, 40b, and 40c. Value.

FIG. 5 is an explanatory diagram for explaining a method of calculating the amount of displacement of the rod-shaped body 10 in the Y-axis direction based on the edge position detected by the position detector 42a. The displacement amount Y1 of the rod-shaped body 10 in the Y-axis direction is calculated as a difference between the lower edge position ym in the Y-axis direction and a preset reference position yo.
Here, the reference position yo is the edge position of the reference bar 12 when the reference bar 12 that can be regarded as having no bend is placed on the two guide rolls 30a and 30b shown in FIG. It is. In the bent shape measuring method in the present embodiment, the reference bar 12 is set on the guide rolls 30a and 30b, and the edge position is measured by the edge position detectors 40a, 40b, and 40c in the same manner as the rod-shaped body 10. The measured edge position of the reference bar 12 is stored in the storage unit 72a as the reference position yo.
Further, the displacement amount X1 in the X-axis direction is calculated as a difference between the edge position xm detected by the position detector 44a and a preset reference position xo, as in the Y-axis direction. As for the reference position xo in the X-axis direction, as in the Y-axis direction, the edge position in the X-axis direction measured using the reference bar 12 is stored in the storage unit 72a as the reference position xo.

Using the above calculation method, the displacement amount calculation unit 71a calculates the displacement amount X1 in the X-axis direction and the displacement amount Y1 in the Y-axis direction in the edge position detection unit 40a. Similarly, the displacement amount calculation unit 71a calculates the displacement amount X2 in the X-axis direction and the displacement amount Y2 in the Y-axis direction in the edge position detection unit 40b, and the displacement amount X3 and Y in the X-axis direction in the edge position detection unit 40c. An axial displacement amount Y3 is calculated.
After step S104, the edge data extraction unit 73a has a plurality of constant intervals corresponding to the installation intervals of the edge position detection units 40a, 40b, and 40c among the calculated displacement amount calculation results in the X-axis direction and the Y-axis direction. The displacement calculation result is extracted as edge data (S108). The plurality of extracted displacement amount calculation results are stored in the storage unit 72a as edge data in the X-axis direction and the Y-axis direction.

  In this embodiment, since the edge position detection units 40a, 40b, and 40c are provided at intervals of 500 millimeters, the edge data is a displacement amount calculation result at detection positions at intervals of 500 millimeters. In the example illustrated in FIG. 3, the edge data is a displacement amount calculation result at detection positions of 0 millimeter, 500 millimeter, 1000 millimeter, 1500 millimeter, 2000 millimeter, 2500 millimeter, and 3000 millimeter. In this embodiment, the displacement amount calculation result in which the edge position is detected is used in all the edge position detection units 40a, 40b, and 40c. Therefore, the displacement amount calculation results at the detection times t1, t4, t7, t10, and t13 in which the displacement amounts in all the edge position detection units 40a, 40b, and 40c are calculated are extracted as edge data.

After step S108, the first profile deriving unit 742a of the profile deriving unit 74a derives the first profile in the X-axis direction and the Y-axis direction from the extracted edge data (S112). The first profile is derived by combining the displacement amounts at the same detection position among the plurality of displacement amount calculation results included in the edge data.
Details of the profile derivation method in step S112 will be described with reference to FIG. FIG. 6 is a graph showing the displacement amount calculation result in the X-axis direction at the detection times t1, t4, and t7 of FIG. 4 and the first profile in the X-axis direction derived from the displacement amount calculation result. In the graph illustrated in FIG. 6, the horizontal axis indicates the detection position, and the vertical axis indicates the amount of displacement at each detection position. In the example illustrated in FIG. 6, the X-axis at each detection position calculated from the edge position detection results in the X-axis direction of the edge position detection units 40a, 40b, and 40c as the displacement amount calculation results at the detection times t1, t4, and t7. The amount of displacement in the direction is shown respectively. The displacement amounts X1, X2, and X3 shown in FIG. 6 are displacement amounts calculated from the edge position detection results in the edge position detection units 40a, 40b, and 40c at the detection time t1. Further, the displacement amounts X′1, X′2, and X′3 are displacement amounts calculated from the edge position detection results in the edge position detection units 40a, 40b, and 40c at the detection time t4. Furthermore, the displacement amounts X ″ 1, X ″ 2, and X ″ 3 are displacement amounts calculated from the edge position detection results at the edge position detection units 40a, 40b, and 40c at the detection time t7.

  Here, in the rod-like body 10 being transported, a horizontal shake or a vertical shake (bound) that is a dynamic behavior occurs, and therefore the detection time is different even if the displacement is measured for the same detection position. The amount of displacement may shift. Such horizontal shake and vertical shake are more likely to occur when the rod-like body 10 has a curved shape.

  In FIG. 6, both the displacement amount X <b> 2 and the displacement amount X ′ <b> 1 indicate the displacement amount at the detection position of 500 mm from the tip of the rod-shaped body 10. Further, the displacement amount X3, the displacement amounts X′2 and X ″ 1 both indicate displacement amounts at a detection position of 1000 millimeters from the tip of the rod-shaped body 10. Furthermore, the displacement amount X′3 and the displacement amount X ″ 2 both indicate displacement amounts at a detection position of 1500 millimeters from the tip of the rod-shaped body 10. If there is no dynamic behavior during conveyance of the rod-shaped body 10, these displacement amounts show the same value even at different detection times at each detection position. However, when dynamic behavior occurs as shown in FIG. 6, the displacement amounts at different detection times at the detection positions of 500 millimeters, 1000 millimeters, and 1500 millimeters show different values.

In step S112, in order to remove the influence of such dynamic behavior, the first profile is derived by combining the displacement amount calculation results by the following method.
First, the first profile deriving unit 742a performs processing for combining the displacement amount calculation result at the detection time t4 with the displacement amount calculation result at the detection time t1. At this time, the displacement amount A ′ when the straight line connecting the displacement amount X′1 and the displacement amount X′2 at the detection time t4 is extended to a position having a length of 1500 millimeters in the longitudinal direction is calculated. After the displacement amount A ′ is calculated, a change amount 11 that is a difference between the displacement amount A ′ and the displacement amount X′3 is calculated. Next, a displacement amount A is calculated when a straight line connecting the displacement amount X2 and the displacement amount X3 at the detection time t1 is extended to a position having a length of 1500 millimeters in the longitudinal direction. After the displacement amount A is calculated, a displacement amount B obtained by adding the change amount l1 to the displacement amount A is calculated. The displacement amount B is a value obtained by matching the displacement amount X′3 at the detection time t4 with the displacement amount calculation result at the detection time t1. Therefore, the first correction edge data composed of the displacement amounts X1, X2, X3, and B corresponds to the displacement amount in the X-axis direction when the length in the longitudinal direction is 0 millimeters to 1500 millimeters.

  Next, the first profile deriving unit 742a performs a process of combining the displacement amount calculation result at the detection time t7 with the calculated first correction edge data. At this time, the displacement amount A ″ when the straight line connecting the displacement amount X ″ 1 and the displacement amount X ″ 2 at the detection time t7 is extended to a position having a length of 2000 millimeters in the longitudinal direction is calculated. After the displacement amount A ″ is calculated, a change amount 12 that is a difference between the displacement amount A ″ and the displacement amount X ″ 3 is calculated. Next, a displacement amount C ″ when a straight line connecting the displacement amount X3 and the displacement amount B is extended to a position having a length of 2000 millimeters in the longitudinal direction is calculated. After the displacement amount C ″ is calculated, the displacement amount B ′ is calculated by adding the change amount 12 to the displacement amount C ″. As a result, second corrected edge data composed of the displacement amounts X1, X2, X3, B, and B ′ corresponding to the displacement amount in the X-axis direction when the length in the longitudinal direction is 0 to 2000 millimeters is calculated. The

Further, after the second correction edge data is calculated, the process of combining the displacement amount calculation result with the calculated correction edge data is repeated, so that all the finally extracted displacement amount calculation results are combined. It is. In the present embodiment, as shown in FIG. 3, the displacement amount calculation results at the detection times t1, t4, t7, t10, and t13 are combined, so that the first profile in the X-axis direction shown at the bottom of FIG. Is derived.
Note that the first profile deriving unit 742a also derives the first profile in the Y-axis direction by the same derivation method as the first profile in the X-axis direction.

  After step S112, the synthesis profile deriving unit 75a derives a synthesis profile from the first profiles in the X-axis direction and the Y-axis direction (S116). The combined profile is indicated by the displacement amount Z at each detection position, and is calculated by combining the displacement amounts at the detection positions in the X-axis direction and the Y-axis direction, which are the first profiles, by geometric calculation. . For example, when the displacement amount in the X-axis direction is Xm and the displacement amount in the Y-axis direction is Ym at the detection position of m millimeters, the displacement amount Zm that is a composite profile is calculated by Equation 1.

合成プロフィール導出部７５ａは、第１のプロフィールに含まれる、全ての検出位置について同様に変位量Ｚを算出することで、合成プロフィールを導出する。
以上のように、本発明の第１の実施形態に係る曲がり形状測定装置２０ａは、一定距離で区切られた検出位置の変位量算出結果であるエッジデータを抽出し、エッジデータに同じ検出位置における変位量算出結果同士を合わせ込むことで、Ｘ軸方向およびＹ軸方向の第１のプロフィールを導出し、さらに合成プロフィールを導出する。これにより、本実施形態では、局部的な曲がり量を０として行列式を解くことで曲がり形状を算出する従来の曲がり形状の算出方法に対し、エッジデータを複雑な計算式を使用せずにプロフィールを幾何学的に近似することによって曲がり形状を容易に算出することができる。このため、曲がり形状を算出するための演算時間を削減でき、リアルタイムで測定結果を得ることができる。また、本実施形態では、エッジデータとして複数の変位量算出結果を用いることで、エッジ位置検出部４０ａ，４０ｂ，４０ｃが設けられた距離の全長よりも長い距離での棒状体１０の曲がりを検出することができる。さらに、本実施形態では、搬送中の棒状体１０の動的な挙動の影響を受けずに、曲がり形状を測定することができる。

The composite profile deriving unit 75a derives a composite profile by calculating the displacement amount Z in the same manner for all detection positions included in the first profile.
As described above, the bending shape measuring apparatus 20a according to the first embodiment of the present invention extracts edge data that is a displacement amount calculation result of detection positions divided by a certain distance, and the edge data has the same detection position. By combining the displacement amount calculation results, a first profile in the X-axis direction and the Y-axis direction is derived, and a composite profile is further derived. As a result, in this embodiment, the edge data is profiled without using a complicated calculation formula, compared to the conventional calculation method of the bent shape by calculating the bent shape by solving the determinant with the local bending amount being zero. Can be calculated easily by geometrically approximating. For this reason, the calculation time for calculating the bent shape can be reduced, and the measurement result can be obtained in real time. Further, in the present embodiment, by using a plurality of displacement amount calculation results as edge data, the bending of the rod-like body 10 at a distance longer than the total length of the distances at which the edge position detection units 40a, 40b, and 40c are provided is detected. can do. Further, in the present embodiment, the bent shape can be measured without being affected by the dynamic behavior of the rod-shaped body 10 being conveyed.

<2. Second Embodiment>
[2-1. Device configuration]
Next, with reference to FIGS. 7-16, the bending shape measuring apparatus 20b which concerns on the 2nd Embodiment of this invention is demonstrated.
As shown in FIG. 7, the bending shape measuring apparatus 20b according to the present embodiment includes guide rolls 30a and 30b, edge position detection units 40a, 40b, and 40c, a rod-shaped body detection sensor 50, and controllers 60a, 60b, 60c, 60d, 60e, 60f and an arithmetic device 70b are provided. Here, the configuration of the guide rolls 30a, 30b, the edge position detection units 40a, 40b, 40c, the rod-shaped body detection sensor 50, and the controllers 60a, 60b, 60c, 60d, 60e, 60f in the present embodiment is as follows. The same as in the first embodiment.

The arithmetic device 70b includes a displacement amount calculation unit 71b, a storage unit 72b, an edge data extraction unit 73b, a profile derivation unit 74b, and a composite profile derivation unit 75b. The configurations of the displacement amount calculation unit 71b and the storage unit 72b in the present embodiment are the same as the displacement amount calculation unit 71a and the storage unit 72a of the first embodiment.
The edge data extraction unit 73b stores a plurality of edge data including edge data including an initial position and at least one edge data including a position moved from the edge data including the initial position by the distance dn calculated by Equation 2 Extracted from the displacement amount calculation result stored in 72b. As in the first embodiment, the edge data in the present embodiment is detected at the detection position in the longitudinal direction of the rod-like body 10 divided by a distance corresponding to a fixed distance provided with the edge position detection units 40a, 40b, and 40c. It is a plurality of corresponding displacement amount calculation results. The initial position is a detection position of 0 mm that is the tip of the rod-shaped body 10.

数２において、ｎは１からｋ−１までの自然数を示し、Ｄはエッジ位置検出部４０ａ，４０ｂ，４０ｃがそれぞれ離れて設けられた一定距離を示し、ｋはＤの距離内でエッジ位置検出部４０ａ，４０ｂ，４０ｃがエッジ位置を検出するサンプル数を示す。サンプル数ｋは、エッジ位置検出部４０ａ，４０ｂ，４０ｃがエッジ位置を検出する一定間隔と、エッジ位置検出部４０ａ，４０ｂ，４０ｃが設けられた一定距離Ｄと、棒状体１０の搬送速度とから算出される自然数である。

In Equation 2, n represents a natural number from 1 to k−1, D represents a fixed distance in which the edge position detection units 40a, 40b, and 40c are provided apart from each other, and k represents edge position detection within the distance of D. The sections 40a, 40b, and 40c indicate the number of samples for detecting the edge position. The number of samples k is determined from the fixed interval at which the edge position detection units 40a, 40b, and 40c detect the edge position, the fixed distance D in which the edge position detection units 40a, 40b, and 40c are provided, and the conveyance speed of the rod-shaped body 10. It is a calculated natural number.

In the present embodiment, since the edge position detection units 40a, 40b, and 40c are arranged at intervals of 500 millimeters as in the first embodiment, the edge data is a rod-like body that is partitioned in the longitudinal direction at intervals of 500 millimeters. The displacement amount calculation result at the position of 10 is obtained.
For example, when the longitudinal length of the rod-shaped body 10 is 2400 millimeters, the edge data extraction unit 73b first sets the longitudinal position of the rod-shaped body 10 as 0 mm, 500 millimeters, 1500 as edge data including the initial position. The displacement amount calculation result in millimeters and 2000 millimeters is extracted as first edge data. Next, the edge data extraction unit 73b calculates the second displacement amount calculation result when the longitudinal position of the rod-shaped body 10 is (0 + d ₁ ) millimeter, (500 + d ₁ ) millimeter, (1500 + d ₁ ) millimeter, and (2000 + d ₁ ) millimeter. Extracted as edge data. This extraction process is repeated, and finally, the edge data extraction unit 73b has a position in the longitudinal direction of the rod-shaped body 10 of (0 + d _k-1 ) millimeter, (500 + d _k-1 ) millimeter, and (1500 + d _k-1 ) millimeter. , (2000 + d _k−1 ) millimeter displacement amount calculation results are extracted as k-th edge data, and a total of k pieces of edge data are extracted.

The profile deriving unit 74b includes a first profile deriving unit 742b and a second profile deriving unit 744b. The profile deriving unit 74b in the present embodiment derives the second profile that is finally derived by the second profile deriving unit 744b. Here, the first profile is a first profile derived based on one piece of edge data, as in the first embodiment. The second profile is a profile for each of the X-axis direction and the Y-axis direction derived by combining a plurality of first profiles. The derived second profile is stored in the storage unit 72b.
The composite profile deriving unit 75b generates a composite profile indicating the bending in the longitudinal direction of the rod-shaped body 10 from the second profile, which is a profile for each of the two directions of the X axis direction and the Y axis direction derived by the profile deriving unit 74b. To derive.

[2-2. Measuring method of bent shape]
(2-2-1. Overview of Measurement Method)
Next, an outline of a profile derivation method in the bending shape measuring apparatus 20b according to the present embodiment will be described with reference to FIG. FIG. 8 is an explanatory diagram showing edge data extracted from the edge position detection results by the edge position detection units 40a, 40b, and 40c, and a plurality of derived profiles. In the example illustrated in FIG. 8, the edge position is detected under the condition that the number of samples is 3 for the rod-like body 10 having a total length of 3400 millimeters. In this case, the distance _{d n} is calculated by the number 2, _{d 1} is 167 mm, _{d 2} is calculated 333 mm respectively.

  In the profile derivation method in the present embodiment, first, the first profile derivation unit 742b uses the first edge data that is the edge position detection result at the detection times t1, t4, t7, t10, and t13, to A first profile in one edge data is derived. Similarly, the first profile deriving unit 742b uses the second edge data that is the edge position detection results at the detection times t2, t5, t8, t11, and t14, and uses the first profile in the second edge data. Is derived. Furthermore, the first profile deriving unit 742b uses the third edge data that is the edge position detection results at the detection times t3, t6, t9, t12, and t15 to obtain the first profile in the third edge data. To derive.

After the three first profiles are derived, the second profile deriving unit 744b derives the second profile by synthesizing the three first profiles. Here, when there is a dynamic behavior of the rod-shaped body 10 during conveyance, as shown in FIG. 8, different displacement amounts are shown even at the same detection position in different first profiles. Therefore, in the present embodiment, it is possible to eliminate the influence of dynamic behavior for each of the first profiles by rotation correction and translation correction described later.
According to such a derivation method, in the example illustrated in FIG. 8, it is possible to derive the first profile indicating a bent shape having a length from 0 millimeters to 3333 millimeters out of the total length of 3400 millimeters of the rod-like body 10.

(2-2-2. Detailed Description of Measurement Method)
Next, with reference to FIGS. 8-16, the detail of the measuring method of the bending shape of the rod-shaped body 10 in the bending shape measuring apparatus 20b which concerns on this embodiment is demonstrated. In the present embodiment, the first profile, the second profile, and the composite profile are derived as the bent shape of the rod-shaped body 10.
First, the edge position detection units 40a, 40b, and 40c detect the edge positions of the rod-shaped body 10 in the X-axis direction and the Y-axis direction (S200). The detected edge position detection results are transmitted through the controllers 60a, 60b, 60c, 60d, 60e, and 60f, respectively, and stored in the storage unit 72b. Step S200 is the same process as step S100.

Next, the displacement amount calculation unit 71b calculates displacement amounts in the X-axis direction and the Y-axis direction from the edge position detection result (S204). The calculated displacement amount is stored in the storage unit 72b as a displacement amount calculation result. Step S204 is the same process as step S104.
Further, the edge data extraction unit 73b extracts first edge data in the X-axis direction and the Y-axis direction including the initial position from the calculated displacement amount calculation result (S208). The edge data is a plurality of displacement amount calculation results at regular intervals corresponding to the installation intervals of the edge position detection units 40a, 40b, and 40c. In addition, the initial position is a detection position of 0 mm, which is the tip of the rod-shaped body 10. The extracted edge data is stored in the storage unit 72b.

  Thereafter, the first profile deriving unit 742b derives the first profiles in the X-axis direction and the Y-axis direction from the edge data extracted immediately before (S212). In step S212, when the process of step S208 is performed immediately before, the first profile deriving unit 742b derives the first profile in the first edge data. In addition, when the process of step S220 described later is performed immediately before, the first profile deriving unit 742b derives the first profile in the edge data extracted in step S220. Note that the process of deriving the first profile in step S212 is the same as the first profile deriving method in step S112.

Next, the edge data extraction unit 73b determines whether the edge data used in the immediately preceding step S212 is the kth edge data (S216).
In step S216, when the edge data used in the immediately preceding step S212 is not the k-th edge data, the edge data extracting unit 73b calculates the distance d ₁ calculated from Equation 2 using the edge data used in the immediately preceding step S212. Edge data including the displacement amount of the detected position that has moved is extracted (S220).
For example, when the first edge data is used in the immediately preceding step S212, the edge data extraction unit 73b extracts the second edge data. The second edge data is edge data including at least the displacement amount of the detection position with a distance d ₁ millimeter calculated from Equation 2. Further, for example, when the second edge data is used in the immediately preceding step S212, the edge data extraction unit 73b extracts the third edge data. The third edge data is edge data including at least the displacement amount of the detection position with the distance d ₂ millimeters calculated from Equation ₂ .

As described above, by repeating the processes of steps S212 to S220, k pieces of edge data from the first edge data to the kth edge data are extracted, and finally the k first profiles are represented by X. It is derived for each of the axial direction and the Y-axis direction.
On the other hand, when the edge data used in step S212 immediately before in step S216 is the k-th edge data, the second profile deriving unit 744b determines the k pieces of data derived in the X-axis direction and the Y-axis direction, respectively. A reference profile in the X-axis direction and the Y-axis direction is extracted from the first profile (S224). Here, a reference profile extraction method will be described with reference to FIGS. 8 and 10.

  FIG. 10 is an explanatory diagram showing the first profile and its regression line for the derivation result of the first profile shown in FIG. As shown in FIG. 10, the regression lines of the first profile in the first edge data, the second edge data, and the third edge data are respectively calculated by first-order approximation using the least square method. The reference profile is any one of the first profiles in which the calculated magnitude of the slope of the regression line is the median value. In the processing example in the X-axis direction shown in FIG. 10, the first profile in the first edge data in which the slope of the regression line becomes the median value is extracted as the reference profile.

  After step S224, the second profile deriving unit 744b rotationally corrects the first profile based on the reference profile (S228). The rotation correction is a process of rotating each plot of the first profile other than the reference profile in accordance with the slope of the regression line of the reference profile. In the example illustrated in FIG. 10, when the axis indicating the position in the longitudinal direction is the P axis and the axis indicating the profile as the displacement amount is the Q axis, the PQ plane indicating the first profile excluding the reference profile. For each of the plots shown in FIG.

数３において、（ｐ_ｉ，ｑ_ｉ）は第１のプロフィールの１つのプロットを示すＰ−Ｑ平面内の座標であり、（ｐ_１，ｑ_１）は各第１のプロフィールにおける初期測定位置のプロットを示すＰ−Ｑ平面内の座標であり、θは基準プロフィールと各第１のプロフィールとの回帰直線の傾きの差から算出される角度である。初期測定位置は、各第１のプロフィールの検出位置のうち、最も先端に近い検出位置である。例えば、初期測定位置は、第２のエッジデータにおける第１のプロフィールの場合、長手方向の長さが数２で算出される距離ｄ_１となる位置である。

In Equation 3, (p _i , q _i ) is a coordinate in the PQ plane showing one plot of the first profile, and (p ₁ , q ₁ ) is the initial measurement position in each first profile. It is a coordinate in the PQ plane showing the plot, and θ is an angle calculated from the difference in slope of the regression line between the reference profile and each first profile. The initial measurement position is the detection position closest to the tip among the detection positions of the first profiles. For example, in the case of the first profile in the second edge data, the initial measurement position is a position where the length in the longitudinal direction is the distance d ₁ calculated by Equation 2.

  In the rotation correction, for each first profile excluding the reference profile, each plot is rotated by an angle θ around the initial measurement position of each first profile. In the example shown in FIG. 10, the angle calculated from the slope of the regression line of the first profile in the second edge data is α, and the slope of the regression line of the first profile in the first edge data that is the reference profile. The angle calculated from is β. Therefore, the angle θ at which each plot of the first profile in the first edge data rotates is − (α−β). As described above, the rotation correction is performed on each first profile excluding the reference profile, whereby the state shown in FIG. 10 is corrected to the state shown in FIG.

After step S228, the second profile deriving unit 744b corrects the translation of the first profile based on the reference profile (S232). The translation correction is a process of translating each plot of the first profile after the rotation correction in the Q-axis direction. The amount of movement that each plot translates in the Q-axis direction is the value of the Q coordinate calculated from the regression line of the first profile and the Q coordinate calculated from the regression line of the reference profile in the P coordinate of each plot. Calculated from the difference from the value.
With reference to FIG. 11, the details of the translation correction in the present embodiment will be described by taking as an example the case of performing the translation correction on the first profile in the second edge data.

First, for each plot, the value of the Q coordinate corresponding to the P coordinate of each plot is calculated from the regression line of the first profile and the regression line of the reference profile. For example, in the case of the E1 point that is the initial measurement position, the coordinates are (p _E1 , q _E1 ), so that the value of the P coordinate is p _E1 from the linear expression of the regression line of the first profile and the regression line of the reference profile. P ′ _E1 and p ″ _E1 which are the values of the Y coordinate at are respectively calculated.
Then, the difference _{L E1} represented by the calculated p _'E1, p''from _{E1 (p' E1 -p ''} E1) is calculated. Calculation of such difference _{L E is} performed for each plot of E 1 to E _7, the difference _L E1 _{~L E7} corresponding to each plot is calculated.

Further, the average difference L _EA is calculated by averaging the differences L _{E1 to} L _E7 corresponding to the calculated plots.
Thereafter, for each plot, a process of translating in the Q-axis direction by the average difference _LEA is performed. FIG. 12 is a graph showing a state after the process of translating the first profile in the second edge data and the third edge data from the state of FIG. 11 is performed. In the example illustrated in FIGS. 11 and 12, the first profile in the second edge data is translated to the negative direction side of the Q axis, and the first profile in the third edge data is converted to the positive direction side of the Q axis. The process of translating to is performed.

  After step S232, the second profile deriving unit 744b derives the second profile in the X-axis direction and the Y-axis direction from the first profile (S236). The second profile is derived by approximating or smoothing each plot of the plurality of first profiles of the first profile and the reference profile corrected for rotation and translation by the least square method. . Compared to the first profile, the second profile can show the profile at a longer distance in the longitudinal direction of the rod-shaped body 10, and the interval between the detection positions can be shortened. Therefore, in the first profile, an insensitive body may be generated at the end, whereas in the second profile, the insensitive body at the end can be eliminated by increasing the number of samples k. Furthermore, the detection accuracy of the bent shape can be increased by shortening the detection interval.

In the present embodiment, as shown in FIG. 13, the second profile deriving unit 744b derives a curve of a sixth-order function serving as a second profile by approximating with a sixth-order basis function. In step S236, in order to reduce the influence of abnormal values due to scales, burrs, etc., plots in which the profile value as the Q coordinate exceeds a predetermined range are excluded, and only plots in which the profile value is within the predetermined range are used. Processing may be performed. For example, the predetermined range may be a range where the value of the profile is ± 32.5 millimeters.
After step S236, the composite profile deriving unit 75b corrects the second profile in the X-axis direction and the Y-axis direction by 0 points (S240). In the zero point correction, among the data included in the second profile, the data of the detection position closest to the tip of the rod-shaped body 10 and the data of the detection position closest to the tail end of the rod-shaped body 10 have the same value. This is a process of rotating the second profile so that

  In the example illustrated in FIG. 14, the profile of the point Xt that is the data of the detection position closest to the tip of the rod-like body 10 and the profile of the point Xb that is the data of the detection position closest to the tail end are the same value. In addition, the zero point correction is performed by rotating around the Xt point. At this time, the rotation correction is performed in the same manner as in step S232, and processing is performed with an angle θx formed by a straight line passing through the Xt point and the Xb point and a straight line passing through the Xt point and parallel to the P axis as a rotation angle. . Note that the zero point correction is performed on the second profile in the Y-axis direction as in the X-axis direction.

  After step S240, the synthesis profile deriving unit 75b derives a synthesis profile from the second profiles in the X-axis direction and the Y-axis direction (S244). The synthesized profile is derived by synthesizing the displacement amounts at the same detection position in the X-axis direction and the Y-axis direction for each data of the second profile corrected in step S240 in the same manner as in step S116.

  As described above, the bending shape measuring apparatus 20b according to the second embodiment of the present invention extracts a plurality of edge data corresponding to different detection positions, and a plurality of first data derived from the plurality of edge data. The profile is corrected, a second profile is derived by combining the corrected first profiles, and a composite profile is further derived. Thereby, in this embodiment, in addition to the effect in 1st Embodiment, since it can measure at a distance longer than 1st Embodiment and there is no dead body, it measures a curved shape over the full length of the rod-shaped body 10. can do. Further, in this embodiment, since the interval between the detection positions can be made shorter than in the first embodiment, the bent shape can be measured with higher accuracy.

<3. Summary>
As described above, the bent shape measuring apparatuses 20a and 20b according to the above-described embodiment of the present invention are arranged at a constant distance along the conveyance path of the rod-shaped body 10 to be conveyed, and the conveyance direction of the rod-shaped body 10 is as follows. At least three edge position detectors 40a, 40b, 40c for continuously detecting the edge positions of the rod-like body 10 in the plane from two directions intersecting each other in a plane orthogonal to the edge, and the edge position detector 40a , 40b, 40c, edge data extraction units 73a, 73b for extracting edge data, which are a plurality of detection results corresponding to positions in the longitudinal direction of the rod-shaped body 10 separated by a certain distance, at least; By combining the detection results at the same position in the longitudinal direction of the rod-shaped body 10 among the plurality of detection results included in the edge data, By combining profiles in two directions, profile deriving portions 74a and 74b for deriving profiles indicating the bending in the longitudinal direction of the rod-shaped body 10 in various directions, the bending in the longitudinal direction of the rod-shaped body 10 is illustrated. Synthesis profile deriving units 75a and 75b for deriving the synthesis profile are provided. Thereby, the bending shape of the rod-shaped body 10 can be calculated in a short calculation processing time.

Moreover, although the preferred embodiment of this invention was described in detail, referring an accompanying drawing, this invention is not limited to this example. It is obvious that a person having ordinary knowledge in the technical field to which the present invention pertains can come up with various changes or modifications within the scope of the technical idea described in the claims. Of course, it is understood that these also belong to the technical scope of the present invention.
For example, in the above embodiment, the three edge position detection units 40a, 40b, and 40c are provided side by side in the Z-axis direction, but the present invention is not limited to this example. For example, three or more edge position detection units may be provided side by side in the Z-axis direction.

Next, an example performed by the present inventor will be described.
In the example, the configuration of the bent shape measuring apparatus 20b and the bent shape measuring method were the same as those in the second embodiment, and the bent shape of a round bar having a length of 5530 mm and a diameter of 160 mm was measured as the rod-like body 10. .
First, the processes of steps S200 to S208 shown in FIG. 9 were performed, and the displacement amount at each detection position in the X-axis direction and the Y-axis direction was calculated. In the present embodiment, the edge position detectors 40a, 40b, and 40c are arranged 500 mm apart, and the edge position of the rod-shaped body 10 is detected at intervals of 0.8 milliseconds. The detected edge positions are averaged every 10 consecutive points, and output as displacement amount calculation results at intervals of 8 milliseconds.

Next, the process of step S208 was performed, and then the processes of steps S212 to S220 were repeatedly performed. In this example, the number of samples was 36, and 36 first profiles were derived in the X-axis direction and the Y-axis direction, respectively. FIG. 15 is a graph showing 36 first profiles in the X-axis direction derived by the processes in steps S208 to S220.
Further, the processes in steps S224 to S232 were performed, and the first profiles in the X-axis direction and the Y-axis direction were corrected based on the reference profile. FIG. 16 is a graph showing 36 first profiles in the X-axis direction after the parallel movement correction in step S232.

Then, the process of step S236-S240 was performed, the 2nd profile of the X-axis direction and the Y-axis direction was derived | led-out, and 0 point correction | amendment was carried out. In step S236, the second profile was derived using a plot having a profile value in the range of ± 32.5 millimeters. FIG. 17 is a graph showing the second profiles in the X-axis direction and the Y-axis direction after the zero point correction in step S240.
Next, the process of step S244 was performed, and a synthesis profile was derived.
In this example, as a comparison, bending precision measurement using a dial gauge was performed on the rod-like body 10 used in this example. In the bending precision measurement, the bending of the rod-shaped body 10 was measured accurately at intervals of 20 millimeters in the longitudinal direction with a dial gauge capable of scanning on the surface plate parallel to the longitudinal direction.

  FIG. 18 shows a composite profile derived according to the present example and a measurement profile obtained by bending precision measurement as a comparative example. The composite profile according to this example has the same bent shape as that of the comparative example, and the difference in the amount of bending, which is the amount of displacement, is an average of −1.01 mm and a maximum of −1.82 mm. Was within ± 2 mm. Moreover, in the present Example, by using said conditions, the bending shape was able to be measured over the full length of the rod-shaped body 10 of 0 millimeters-5530 millimeters. Furthermore, in the present Example, the bending shape of the rod-shaped body 10 was able to be measured on-line, and was able to be measured in a short time and simply compared with the conventional measuring method.

  From the above results, it was confirmed that the bent shape of the rod-shaped body can be easily measured on-line by the bent shape measuring apparatus and the measuring method according to the present invention.

DESCRIPTION OF SYMBOLS 10 Bar-shaped body 12 Reference | standard bar | burr 20a, 20b Bending shape measuring apparatus 30a, 30b Guide roll 40a, 40b, 40c Edge position detection part 42a, 42b, 42c, 44a, 44b, 44c Position detector 422a, 422b, 422c, 442a, 442b , 442c Emitter 424a, 424b, 424c, 444a, 444b, 444c Light receiver 50 Bar-shaped body detection sensor 60a, 60b, 60c, 60d, 60e, 60f Controller 70a, 70b Arithmetic unit 71a, 71b Displacement amount calculation unit 72a, 72b Storage unit 73a, 73b Edge data extraction unit 74a, 74b Profile derivation unit 742a, 742b First profile derivation unit 744a, 744b Second profile derivation unit 75, 75a, 75b Composite profile derivation unit

Claims (4)

Along the transport path of the rod-shaped body to be transported, the edge position of the rod-shaped body in the plane is determined from two directions that are arranged at a constant distance and intersect each other in a plane orthogonal to the transport direction of the rod-shaped body. At least three edge detectors that detect in succession;
Among the detection results of the edge detection unit, an edge data extraction unit that extracts a plurality of edge data corresponding to the detection positions in the longitudinal direction of the rod-shaped body divided by the constant distance;
At least a profile showing the bending in the longitudinal direction of the rod-shaped body in each of the two directions by combining the detection results at the same detection position among the plurality of detection results included in the edge data. A profile deriving unit for deriving
A composite profile deriving unit for deriving a composite profile indicating bending in the longitudinal direction of the rod-shaped body by combining the profiles in each of the two directions;
Equipped with a,
The edge data extraction unit extracts a plurality of the edge data corresponding to the different detection positions from the detection result,
The profile deriving unit
By combining the detection results at the same detection position among the plurality of detection results included in each edge data, a plurality of bendings in the longitudinal direction of the rod-shaped body in each of the two directions are shown. A first profile deriving unit for deriving a first profile;
A second profile deriving unit for deriving, as the profile, a second profile indicating a bending in the longitudinal direction of the rod-like body, based on a plurality of the first profiles;
Rod-shaped body of the bending shape measuring apparatus that have a. The second profile deriving unit derives a second profile by correcting and synthesizing a plurality of the first profiles by rotation and translation, and then performing approximation or smoothing processing. The bending shape measuring apparatus of the rod-shaped body according to claim 1 . Along the transport path of the rod-shaped body to be transported, the edge position of the rod-shaped body in the plane is determined from two directions that are arranged at a constant distance and intersect each other in a plane orthogonal to the transport direction of the rod-shaped body. Among the detection results of the three edge detection devices that detect continuously at a constant interval, a plurality of edge data that are the detection results corresponding to the detection positions in the longitudinal direction of the rod-shaped body divided by the predetermined distance are extracted. Edge data extraction process;
After the edge data extraction step, at least among the plurality of detection results included in the edge data, by combining the detection results at the same detection position, the rod-shaped body in each of the two directions A profile derivation step for deriving a profile indicating the longitudinal bending of
After the profile derivation step, by synthesizing the profiles in each of the two directions, a synthesis profile derivation step for deriving a synthesis profile indicating a bending in the longitudinal direction of the rod-shaped body;
Only including,
In the edge data extraction step, a plurality of the edge data corresponding to the detection positions different from each other are extracted from the detection results,
During the profile derivation process,
By combining the detection results at the same detection position among the plurality of detection results included in each edge data, a plurality of bendings in the longitudinal direction of the rod-shaped body in each of the two directions are shown. Deriving the first profile,
A method for measuring a bent shape of a rod-shaped body, wherein a second profile indicating a bending in the longitudinal direction of the rod-shaped body is derived as the profile based on the plurality of first profiles . In the second profile derivation step, a plurality of the first profiles are corrected by rotation and translation, combined, and then approximated or smoothed to derive a second profile. The method for measuring a bent shape of a rod-shaped body according to claim 3 .

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