JP6365510B2 - Conveyance state detection device - Google Patents

Description

  The present invention relates to a conveyance state detection apparatus for a conveyance object, and is suitable for detecting a conveyance state of a conveyance object having a flat and continuous outer surface such as a steel plate and conveyed in a preset conveyance direction. Is.

  For example, a laser Doppler velocimeter described in Patent Document 1 below can be used to detect the moving speed in the conveying direction of the conveyed state of a conveyed object having a flat and continuous outer surface such as a steel plate. This laser Doppler velocimeter, for example, applies laser light that passes through a plane parallel to the transport direction of the transport object and perpendicular to the flat outer surface of the transport object to the measurement point of the transport object set in advance from two directions at the same irradiation angle. The scattered light of the laser beam irradiated to the measurement point is received by the light receiving unit on the measurement point vertical line, and the moving speed from the interference fringe fringe frequency (Doppler frequency) generated in the Doppler shift to the transport direction Is to be calculated.

JP 7-270436 A

  By the way, in the conveyance line of a steel plate, what is called meandering in which the steel plate moves in a direction orthogonal to the conveyance direction and in a direction different from the conveyance direction becomes a problem. When the amount of meandering becomes large, it interferes with equipment around the steel sheet conveying line, and various problems arise. However, since the steel plate is being conveyed at a correspondingly high speed and there is no means for accurately detecting the conveyance speed of the steel plate, it is not known where the steel plate is in the conveyance line. For this reason, it is difficult to detect at which location the interference between the steel sheet and the equipment occurs. Thus, there is a demand for a conveyance state detection device capable of determining the conveyance state of a steel sheet, particularly that interference with equipment has occurred.

  The present invention has been made paying attention to the problems as described above, and provides a conveyance state detection device capable of determining interference of a conveyance object such as a steel plate using a computer having an arithmetic processing function. It is intended to do.

  In order to solve the above-described problems, according to one aspect of the present invention, a computer having a calculation processing function is performed on a transported object having a flat and continuous outer surface and transported in a preset transport direction. A transport state detection device that detects a movement state in a different direction different from a transport direction of a transport object, on a transport plane including the transport direction and the different direction, and on measurement points set on the outer surface of the transport object, The light receiving unit that irradiates the measurement point with laser light that passes through different planes that are perpendicular to the transport plane and intersects at the measurement point, and that receives the scattered light of the laser light irradiated to the measurement point is perpendicular to the transport plane and measures A laser Doppler velocity detector having two laser Doppler velocimeters arranged on a straight line passing through a point, and two of the laser Doppler velocity meter of the laser Doppler velocity detector, the conveyance direction and the opposite direction. An actual movement speed calculation unit that calculates an actual movement speed of a conveyed product having components, and a conveyance direction movement amount calculation unit that calculates a conveyance direction movement amount of the conveyance object by integrating a conveyance direction speed component of the actual movement speed of the conveyance object A different direction movement amount calculation unit that calculates a different direction movement amount of the conveyed product by integrating the different direction speed component of the actual moving speed of the conveyed product, and a maximum value and a minimum value of the different direction movement amount of the conveyed product. A different-direction movement fluctuation amount calculation unit for calculating the different-direction movement fluctuation amount of the conveyed product from the difference value, and the conveyed item at the time when the different-direction movement fluctuation amount of the conveyed object becomes equal to or more than a preset specified value. There is provided a conveyance state detection device including a conveyance state detection unit that performs at least one of storage and output of the movement amount in the conveyance direction.

  According to the present invention, it is possible to determine the interference and meandering amount of a conveyed object such as a steel plate using a computer having an arithmetic processing function.

It is a schematic block diagram which shows the steel plate shear line to which one Embodiment of the conveyance state detection apparatus of this invention was applied. It is arrangement | positioning explanatory drawing of the conveyance state detection apparatus in the steel plate shear line of FIG. It is a schematic block diagram of the conveyance state detection apparatus arrange | positioned in FIG. It is a schematic block diagram of a laser Doppler velocimeter. It is explanatory drawing of the speed detection by the laser Doppler velocimeter of FIG. It is explanatory drawing of the speed detection by the two laser Doppler velocimeters of FIG. It is explanatory drawing of the steel plate moving speed detected by each laser Doppler speed detection apparatus of FIG. It is explanatory drawing of the steel plate moving speed detected with the single laser Doppler speed detection apparatus of FIG. It is a flowchart of the arithmetic processing performed with the computer system of FIG. It is explanatory drawing of the burr | flash which generate | occur | produces in the steel plate shear line of FIG. It is explanatory drawing of the effect | action of the arithmetic processing of FIG.

The following embodiments exemplify apparatuses and methods for embodying the technical idea of the present invention, and the technical idea of the present invention is the material, shape, structure, arrangement, etc. of components. Is not specified as follows. The technical idea of the present invention can be variously modified within the technical scope defined by the claims described in the claims.
Hereinafter, a conveyance state detection device according to an embodiment of the present invention will be described with reference to the drawings. The conveyance state detection apparatus of this embodiment is used for, for example, a steel plate shear line shown in FIG. This steel plate shearing line is for shearing the rolled steel plate S conveyed from the right to the left in the figure. First, the crop shear 11 is called an unsteady state called a crop portion at the leading end of the conveying direction of the steel plate S. Shear the part. Next, the width shearing machine 12 shears both ends in the width direction and the center in the width direction of the steel sheet S. Next, the plate thickness of the steel plate S is measured by the laser plate thickness meter 13. Next, the steel plate S is sheared in the transport direction by the end shear 14 to a predetermined length. Next, the running inspection machine 15 carries out an appearance inspection such as burrs and carries it out. The width shearing machine 12 includes a shearing machine at both ends in the width direction of the steel sheet S called a double side shear and a shearing machine at the center in the width direction of the steel sheet S called a rolling slit shear. Both the double side shear and the rolling slit shear are sheared by pressing the blade against the steel sheet S in a so-called scissors shape. At the time of shearing these steel plates, the conveyance of the steel plates S is stopped to perform shearing.

  FIG. 2 is an explanatory view of the arrangement of the conveyance state detection device provided in the steel plate shear line of FIG. In this figure, the steel sheet S is conveyed from the left to the right in the figure. Reference numeral 16 in the drawing is a double side shear disposed on the entry side of the width shearing machine 12, and reference numeral 17 is a rolling slit shear disposed on the exit side from the double side shear 16. On the entry side of the double side shear 16, first pinch rolls 18 are disposed on both sides in the width direction of the steel plate conveyance line. Moreover, the 2nd pinch roll 19 is arrange | positioned at the exit side of the double side shear 16 at the width direction both sides of a steel plate conveyance line. Moreover, the 2nd pinch roll exit side guide roll 22 is arrange | positioned at the exit side of the 2nd pinch roll 19 at the width direction both sides of a steel plate conveyance line. Further, rolling slit shear side guides 21 are arranged on both sides of the rolling slit shear 17 in the width direction of the steel sheet conveying line, and side guide entrance side guide rolls 23 are provided on the entrance side of each rolling slit shear side guide 21. A side guide outlet guide roll 24 is disposed in the side guide. Further, on the exit side of the rolling slit shear side guide 21, third pinch roll entry side guide rolls 25 are arranged on both sides in the width direction of the steel sheet conveying line. Moreover, the 3rd pinch roll 20 is arrange | positioned at the exit side of the 3rd pinch roll entrance side guide roll 25 at the width direction both sides of a steel plate conveyance line. Moreover, the 3rd pinch roll exit side guide roll 26 is arrange | positioned at the exit side of the 3rd pinch roll 20 at the width direction both sides of a steel plate conveyance line. A number of table rolls (not shown) are arranged below the steel plate conveyance line.

  The double side shear 16 shears both ends in the width direction of the steel sheet S at the same time. The rolling slit shear 17 shears the central portion in the width direction of the steel sheet S. Moreover, each pinch roll 18-20 drives the both ends of the width direction of the steel plate S across from the upper and lower sides. The drive of each pinch roll 18-20 and the shearing operation of the double side shear 16 and the rolling slit shear 17 are electrically controlled independently, and the blade edge and rolling of the double side shear 16 are conveyed while the steel plates are conveyed by the pinch rolls 18-20. The cutting edge of the slit shear 17 is configured not to interfere with the steel plate S. In the width shearing machine 12, the steel plate S is conveyed to the shearing position of the double side shear 16 by, for example, a table roll and temporarily stopped. In that state, when the steel sheet S is sandwiched between the pinch rolls 18, the double side shear 16 starts shearing. Simultaneously with the end of shearing, the steel sheet S is transported at a constant amount and at a constant speed. After repeating this shearing and conveyance, the steel plate is conveyed to the exit side of the double side shear 16. Similarly, the rolling slit shear 17 performs shearing and conveying operations. The burr | flash of the steel plate S is a cross-sectional defect like the whirling shown, for example in FIG. This cross-sectional defect occurs due to the displacement of the shear position caused by the steel plate moving in a direction different from the conveyance direction during the repetition of the shearing / conveying operation by the shear as described above.

  In this embodiment, the laser Doppler of the conveyance state detection apparatus is provided between the paired first pinch rolls 18, between the paired second pinch rolls 19, and between the paired third pinch rolls 20. A speed detection device 7 is arranged. FIG. 3 shows a schematic configuration of the conveyance state detection device including the laser Doppler velocity detection device 7. This conveyance state detection device includes a laser Doppler velocity detection device 7 that is a combination of two laser Doppler velocimeters 1 and 2 and a computer system (computer) 8 having an advanced arithmetic processing function. Among them, the laser Doppler velocity detection device 7 sets the measurement point P on the upper surface of the steel sheet S on the transport plane including the transport direction of the steel sheet S, the meandering direction orthogonal to the transport direction, that is, the different direction, and two lasers. Each of the Doppler velocimeters 1 and 2 irradiates the measurement point P with laser light L passing through different planes perpendicular to the transport plane and intersecting at the measurement point P, and the laser beam L irradiated to the measurement point P. The scattered light is received by the light receiving unit 6 arranged on a straight line that is perpendicular to the transport plane and passes through the measurement point P.

  FIG. 4 shows a schematic configuration of the laser Doppler velocimeters 1 and 2, and FIG. 5 shows a principle of speed detection by the laser Doppler velocimeters 1 and 2 of FIG. The laser Doppler velocimeters 1 and 2 each include a light emitting unit 3 that uses a laser light source 3a such as a semiconductor laser as a light source. In the light emitting unit 3, the laser light emitted from the laser light source 3 a is converted into a parallel light beam by the collimator lens 3 b, and this laser light beam is divided into two laser light beams by the beam splitter 4. Since these two laser light beams are directed in opposite directions, they are reflected by the mirror 5 and passed through the same plane as two laser light beams (laser light) L, respectively, so that the conveyed object, in this case, the upper surface of the steel sheet S Is irradiated at the same incident angle θ. The scattered light of the irradiated laser light beam L is reflected on the light receiving unit 6, specifically the condenser lens 6 a and the light, which is arranged immediately above the measurement point P, that is, on a straight line perpendicular to the transport plane and passing through the measurement point P. The detector 6b receives light. Since the scattered light of the two laser light beams L irradiated to the steel sheet S conveyed at the speed V undergoes Doppler shift, interference fringes are generated in the scattered light of the two laser light beams L received by the light receiving unit 6. The frequency of this interference fringe is called the Doppler frequency.

  For example, assuming that the conveying direction of the steel sheet S coincides with the Doppler shift direction, that is, parallel to the plane through which the two laser beams L pass, the conveying speed of the steel sheet S is V, the irradiation incident angle of the laser beam is θ, and the laser beam L When the Doppler shift frequencies received by each of the scattered light are + Δf and −Δf, and the wavelength of the laser light L is λ, the Doppler frequency F is expressed by the following equation (1).

  The actual transport direction of the steel sheet S and the Doppler shift direction, that is, the minimum angle formed by the plane through which the two laser beams L pass, in other words, the deviation angle between the original transport direction of the steel sheet S and the actual transport direction is α. Then, the Doppler frequency F is expressed by the following two equations using the correction coefficient cos α.

  In this embodiment, the two laser Doppler velocimeters 1 and 2 are arranged so that the planes through which the two laser light beams L pass in each of the two laser Doppler velocimeters 1 and 2 are orthogonal to each other and the first (first). The laser Doppler velocity detection device 7 is configured by arranging the plane through which the two laser light beams L of the laser Doppler velocimeter 1 pass in parallel with the conveying direction of the steel sheet S. Therefore, as shown in FIG. 6, for example, the original conveying direction of the steel sheet S is X, the different direction orthogonal to the conveying direction X in the horizontal plane, that is, the meandering direction is Y, and the vertical direction is Z, and the first laser Doppler velocity When the two laser beams of the total 1 pass through the XZ plane and the two laser beams of the second laser Doppler velocimeter 2 pass through the YZ plane, the conveying direction of the steel sheet S detected by the first laser Doppler velocimeter 1 The velocity component is obtained as V · cos Δα, and the velocity component in the meandering direction of the steel sheet S detected by the second laser Doppler velocimeter 2 is obtained as V · sin Δα.

  In this embodiment, two components of the moving speed of the steel sheet S are calculated by the computer system 8 from the outputs of the two laser Doppler velocimeters 1 and 2 of each laser Doppler speed detector 7. As is well known, the computer system 8 includes an input / output unit, a storage unit, a display unit, and the like in addition to an arithmetic processing unit that performs advanced arithmetic processing, and is connected to each other via a high-speed communication bus. Examples of the display unit of the computer system 8 include an image and audio display device, a printing device, and the like. In this embodiment, only one computer system 8 is arranged for the three laser Doppler velocity detection devices 7. For example, the movement speed component in the steel plate conveyance direction and the movement speed component in the steel plate meandering direction detected by the laser Doppler velocity detection device 7 at two measurement points P1 and P2 are as shown in FIG. In this case, since the moving speed component in the meandering direction of the steel sheet is larger at the measurement point P2 ahead of the steel sheet conveyance direction than in the measurement point P1, the meandering direction of the steel sheet S between the two measurement points P1 and P2. It can be seen that the moving speed of is accelerating. Further, in this case, since the front and rear of the same steel sheet S are moved in the same direction, it can be seen that the steel sheet S is so-called translated. On the other hand, as shown in FIG. 7B, it can be seen that when the same steel plate S is moving in a direction in which the forward direction and the backward direction of the same steel plate S are different, the steel plate S is so-called rotating. Further, as described above, since the conveyance of the steel plate S is stopped when the steel plate is sheared by the shear, for example, the meandering state of the steel plate S is evaluated by combining the steel plate conveyance direction speed component and the steel plate meandering direction velocity component as shown in FIG. Is also possible. Note that the computer system may be arranged for each laser Doppler velocity detection device, or only one computer system may be arranged by a plurality of laser Doppler velocity detection devices. Further, each laser Doppler velocimeter itself may calculate the moving speed component of the steel sheet, and the computer system may read the moving speed component of the steel sheet calculated by each laser Doppler velocimeter.

  In this embodiment, the processing state shown in FIG. 9 is performed on the read outputs of the two laser Doppler velocimeters 1 and 2 of the laser Doppler velocity detector 7 to evaluate the conveyance state of the steel sheet S. This calculation process is performed by a timer process for each predetermined sampling time set in advance. First, in step S1, the movement speed (component) in the first setting direction, in this case the conveyance direction, is determined from the output of the first laser Doppler velocimeter 1. Calculated from the above-mentioned one equation.

Next, the process proceeds to step S2, and the moving speed (component) in the second setting direction, in this case, the meandering direction, is calculated from the above-described equation 1 from the output of the second laser Doppler velocimeter 2.
Next, the process proceeds to step S3, and the actual moving speed (vector) of the steel sheet S is calculated from the first setting direction (conveying direction) moving speed (component) and the second setting direction (meandering direction) moving speed (component). In this case, the conveyance direction moving speed component calculated in step S1 and the meandering direction moving speed component calculated in step S2 constitute the actual moving speed vector of the steel sheet S as it is.
Next, the process proceeds to step S4, and the conveyance direction movement amount is calculated by integrating the conveyance direction speed (component) of the actual movement speed of the steel sheet S.
Next, the process proceeds to step S5, and the meandering direction speed (component) of the actual moving speed of the steel sheet S is integrated to calculate the meandering direction moving amount.

Next, the process proceeds to step S6, and the meandering fluctuation amount (absolute value) from a difference value between the maximum value and the minimum value of the meandering direction movement amount within a predetermined time T set in advance, for example, the time for processing one steel sheet S. Is calculated.
Next, the process proceeds to step S7, where it is determined whether or not the meandering fluctuation amount (absolute value) calculated in step S6 is equal to or greater than a predetermined meandering fluctuation amount prescribed value, and the meandering fluctuation amount is the meandering fluctuation amount. If it is equal to or greater than the specified value, the process proceeds to step S8, and if not, the process returns.
In step S8, the amount of movement in the conveyance direction when the amount of meandering fluctuation becomes equal to or greater than the prescribed value of meandering fluctuation is stored and output, and then the process returns.

According to this calculation process, the moving amount and the meandering direction moving amount of the steel sheet S are calculated from the leading end of the steel sheet S to the tail end of the conveying direction. The amount of movement in the meandering direction of the steel sheet S continues to increase as long as the meandering direction speed is the same direction. For example, if the direction of the meandering direction speed is changed, the amount of movement in the meandering direction becomes small after the change and eventually increases in the reverse direction. Become. For example, when the steel plate S interferes with the equipment, the meandering direction speed changes, the meandering fluctuation amount of the meandering direction movement amount increases, and when this meandering fluctuation amount becomes equal to or greater than the meandering fluctuation amount prescribed value, the conveyance direction movement amount at that time Is stored and output.
In the actual operation of the width shearing machine 12 of FIG. 2, chopstick-shaped burrs are generated on the shearing surface of the rolling slit shear 17 from a certain time. Therefore, the carrying state of the steel sheet S shown in FIG. 11 was detected while performing the arithmetic processing of FIG. In the arithmetic processing of FIG. 9, the amount of movement in the meandering direction obtained from the output of the laser Doppler velocity detection device 7 fluctuates greatly from a negative value to a positive value, and as a result, the amount of meandering fluctuation within the prescribed time T becomes the meandering fluctuation amount prescribed value. That's it. From the amount of movement in the conveyance direction stored and output in association with this, it has been found that this rapid increase in the meandering fluctuation amount occurs when the steel sheet S reaches the third pinch roll entry side guide roll 25. Then, when the state of the 3rd pinch roll entry side guide roll 25 was investigated, the 3rd pinch roll entry side guide roll 25 shifted | deviated 2 mm inside the width direction of the conveyance line rather than the regulation position. That is, the steel plate S interferes with the third pinch roll entry side guide roll 25 due to the displacement of the third pinch roll entry side guide roll 25, and the steel plate position is particularly displaced in the width direction before and after that, and shearing by the rolling slit shear 17 is performed. It was also found that the position shifted and chopstick-shaped burrs occurred.

  Thus, in the conveyance state detection apparatus of this embodiment, the calculation processing function is performed on the conveyance object having a flat and continuous outer surface and conveyed in the preset conveyance direction, in this case, the steel sheet S. A moving state in a different direction different from the conveying direction of the steel sheet S, that is, a meandering direction, is detected by the computer system (computer) 8 having it. For this purpose, lasers that pass through different planes perpendicular to the conveyance plane and intersecting at the measurement point P with respect to the measurement point P set on the conveyance plane including the conveyance direction and the meandering direction and on the outer surface of the steel sheet S. Two laser Dopplers in which the light receiving unit 6 that irradiates the measurement point P with the light L and receives the scattered light of the laser beam L irradiated to the measurement point P is arranged on a straight line that is perpendicular to the transport plane and passes through the measurement point P The laser Doppler speed detection device 7 is constituted by the speedometers 1 and 2. On the other hand, in the computer system 8, the actual moving speed of the steel sheet S having two components in the conveying direction and the meandering direction from the outputs of the two laser Doppler speed meters 1 and 2 of the laser Doppler speed detecting device 7 is calculated as an actual moving speed step S1. Calculated in ~ S3. Moreover, the conveyance direction speed component of the actual moving speed of the steel sheet S is integrated, and the conveyance direction movement amount of the steel sheet S is calculated in the conveyance direction movement amount calculation step S4. Further, the meandering direction velocity component of the actual moving speed of the steel plate S is integrated to calculate the meandering direction moving amount of the steel plate S in the meandering direction moving amount calculating step S5. Further, the meandering (different direction movement) fluctuation amount of the steel sheet S is calculated in the meandering fluctuation amount calculating step S6 from the difference value between the maximum value and the minimum value of the meandering direction movement amount of the steel sheet S. Then, when the meandering fluctuation amount of the steel sheet S becomes equal to or greater than a preset specified value, storage and output of the movement amount of the steel sheet S at that time are stored and output in transport state detection steps S7 to S8. Thereby, it can discriminate | determine that conveyance objects, such as the steel plate S, interfered with the installation.

Further, the meandering fluctuation amount calculation steps S7 to S8 calculate the meandering fluctuation amount of the steel sheet S from the difference value between the maximum value and the minimum value of the movement amount of the steel sheet S within the predetermined time T set in advance. Thereby, interference with conveyance objects, such as the steel plate S produced in a comparatively short time, and an installation can be discriminate | determined reliably.
Further, by making the planes different from each other through the planes through which the laser beams of the two laser Doppler velocimeters 1 and 2 pass are orthogonal to each other, the two components of the actual moving speed of the steel sheet S in the conveying direction and the meandering direction are easily calculated. be able to.

Further, by making one of the planes orthogonal to each other as a plane parallel to the conveying direction of the steel sheet S, the two components of the conveying direction and the meandering direction of the actual moving speed of the steel sheet S can be calculated more easily. Can do.
In the above-described embodiment, different planes through which the laser beams of the two laser Doppler velocimeters 1 and 2 constituting the laser Doppler velocity detection device 7 pass are orthogonal to each other and one of the planes orthogonal to each other. The plane was set to a plane parallel to the conveying direction of the steel plate. This facilitates the calculation of the transport direction moving speed (component) and the meandering direction (different direction) moving speed (component). However, as can be inferred from the above description, one of the different planes through which the laser beams of the two laser Doppler velocimeters 1 and 2 pass may not be a plane parallel to the conveying direction of the steel plate. The planes do not have to be orthogonal. That is, in such a case, for example, by using a trigonometric function, the two moving speed components detected by the two laser Doppler velocimeters 1 and 2 are converted into the moving direction moving speed (component) and the meandering direction (different direction). It is only necessary to replace the moving speed (component).

  It goes without saying that the present invention includes various embodiments not described herein. Therefore, the technical scope of the present invention is defined only by the invention-specific matters described in the appropriate claims from the above description.

DESCRIPTION OF SYMBOLS 1 1st laser Doppler velocimeter 2 2nd laser Doppler velocimeter 3 Light emission part 4 Beam splitter 5 Mirror 6 Light-receiving part 7 Laser Doppler velocity detection apparatus 8 Computer system (computer)
DESCRIPTION OF SYMBOLS 11 Crop shear 12 Width shearing machine 13 Laser plate thickness meter 14 End shear 15 Running inspection machine 16 Double side shear 17 Rolling slit shear 18 First pinch roll 19 Second pinch roll 20 Third pinch roll 21 Rolling slit shear side guide 22 2nd pinch roll exit side guide roll 23 Side guide entry side guide roll 24 Side guide exit side guide roll 25 3rd pinch roll entry side guide roll 26 3rd pinch roll exit side guide roll S Steel plate (conveyed material)

Claims (3)

For a transported object having a flat and continuous outer surface and transported in a preset transport direction, a moving state of the transported object in a direction different from the transport direction is detected by a computer having an arithmetic processing function. A conveyance state detection device comprising:
The measurement points set on the transfer plane including the transfer direction and the different direction and on the outer surface of the transfer object pass through different planes perpendicular to the transfer plane and intersecting at the measurement points. Two laser Doppler velocities in which a light receiving unit that irradiates the measurement point with a laser beam and receives scattered light of the laser beam irradiated on the measurement point is arranged on a straight line that is perpendicular to the transport plane and passes through the measurement point A laser Doppler velocity detection device having a meter;
An actual moving speed calculation unit that calculates an actual moving speed of a conveyed object having two components in the conveying direction and the different direction from outputs of two laser Doppler velocimeters of the laser Doppler speed detecting device;
A conveyance direction movement amount calculation unit that calculates a conveyance direction movement amount of the conveyance object by integrating a conveyance direction speed component of the actual movement speed of the conveyance object;
The two laser Doppler velocimeters indicate the different direction speed component of the actual moving speed of the transported object from the time when the two laser Doppler velocimeters irradiate the measurement point at the front end of the transported object in the transport direction. A different direction movement amount calculation unit that calculates a different direction movement amount that the conveyance object fluctuates by dividing a plurality of times by dividing each predetermined time until the measurement point at the end of the conveyance direction of the conveyance object is irradiated ,
The two laser Doppler velocimeters irradiate the measurement point at the tail end in the conveyance direction of the conveyed object from the time when the two laser Doppler velocities irradiate the measurement point at the leading end in the conveyance direction of the conveyance object. Until the point of time, the maximum amount of the different direction movement amount that fluctuates with reference to zero is different from that of the conveyed product, and the different direction movement amount varies with reference to zero. A different direction movement fluctuation amount calculating unit for calculating a different direction movement fluctuation amount of a conveyed product from a difference value from a minimum value in which an absolute value of a direction movement amount is minimum ;
A transport state detector that performs at least one of storage and output of the transport direction movement amount of the transport object at the time when the amount of movement change in the different direction of the transport object is equal to or greater than a predetermined value set in advance; ,
The conveyance state detection apparatus provided with. The two transport state detection device according to claim 1 to one another in different planes of the laser light of the laser Doppler velocimeter passes are planes orthogonal to each other. The conveyance state detection device according to claim 2 , wherein one of the planes orthogonal to each other is a plane parallel to a conveyance direction of the conveyance object.

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