JP6920861B2 - Rope surface unevenness detection method and surface unevenness detection device - Google Patents

Description

The present invention relates to a rope surface unevenness detecting method and a surface unevenness detecting device, and more particularly to a rope surface unevenness detecting method and a surface unevenness detecting device for detecting the surface unevenness of a rope such as a wire rope.

A rope such as a wire rope is formed by twisting a plurality of strands around the outer circumference of a rope core. Each strand is formed by twisting a plurality of steel strands. The number of strands used for one rope is usually about 3 to 9. When shipping such a rope as a product, it is necessary to quantitatively inspect whether there is any abnormality in the surface shape of the rope.

As a method for quantitatively detecting an abnormality in the surface shape of a wire rope, a three-dimensional measurement technique using an optical cutting method and a technique for measuring the outer diameter from the amount of transmitted light are used (for example, Patent Document 1 and Patent Documents). 2).

Patent Document 1 aims to measure the twist pitch of a rope, and by moving a laser displacement sensor in the longitudinal direction of the rope in accordance with the radial direction of the rope, three-dimensional shape data is acquired and a strand is obtained. The twist pitch is calculated from the position coordinates of the apex of the mountain.

Further, Patent Document 2 aims to detect an abnormality in the outer diameter of the rope, and allows light from an irradiation means arranged across the rope to enter the light receiving means to reduce the amount of light that is not blocked by the rope. It is converted to an outer diameter value, and an abnormality in the outer diameter of the rope is detected based on the waveform of the frequency component of half (= t / 2) of the twist pitch t extracted from the position-outer diameter value graph.

Japanese Patent No. 4803323 Japanese Patent No. 5436659

For example, when it is assumed that the rope is used for an elevator, the unevenness of the crown portion of the rope leads to the vibration of the elevator, so that the unevenness of the crown portion needs to be kept within an allowable range. Here, as shown in FIG. 13, the crown portion of the rope refers to a portion 101 which is the apex of the rope in contact with the circumscribed circle 100, assuming that the circumscribed circle 100 is in contact with the outer circumference of the rope.

However, Patent Document 1 has a problem that the twist pitch of the rope, that is, the pitch of the crown portion in the longitudinal direction of the rope can be measured, but the amount of unevenness on the surface of the rope cannot be measured.

Further, in Patent Document 2, since the abnormality of the outer diameter of the rope is detected based on the waveform of the frequency component of half the twist pitch t (= t / 2), the period of half the twist pitch of the outer layer strand and the inner layer strand Although it is possible to detect irregularities that appear at half the cycle of the twist pitch, there is a problem that irregularities that appear at other cycles and irregularities that do not have periodicity cannot be detected.

Further, since Patent Document 2 uses a position-outer diameter value graph, the distance from the upper crown portion to the lower crown portion is the outer diameter value depending on the number of strands used for one wire rope. In some cases, the distance from the upper crown to the lower valley is the outer diameter value, so it is not possible to measure the amount of unevenness on only one crown, and the outer diameter is abnormal. There is a problem that it is necessary to adjust the threshold value for determining.

The present invention has been made to solve such a problem, and the amount of unevenness of the crown portion of the rope is measured regardless of the period of the twist pitch of the strands and the number of strands, and the surface shape of the rope is abnormal. It is an object of the present invention to obtain a rope surface unevenness detecting method and a surface unevenness detecting device that can be detected.

The present invention is to project linear light onto the surface of a rope and image the reflected light of the linear light reflected on the surface of the rope from an angle different from the projection direction of the linear light. Three-dimensional that sequentially performs while changing the position in the direction, acquires round slice data showing the surface shape of the rope at each position in the longitudinal direction of the rope, and acquires the three-dimensional shape data of the rope from the round slice data. Proximity point extraction that extracts the values of the points closest to the projection position of the linear light and the imaging position of the reflected light from the shape acquisition step and the round slice data constituting the three-dimensional shape data, and outputs them as proximity point data. The steps, the crown portion extraction step in which the coordinates of the crown portion, which is the apex portion in the surface shape of the rope, are obtained from the proximity point data and output as the crown portion extraction data, and the crown portion extraction data are set in advance. An extrinsic line calculation step for calculating an extrinsic line circumscribing the coordinates of two or more crowns in the crown extraction data for each range, and the extrinsic line and the crown extraction data for each preset range. Optimal to select the unevenness amount calculation step of calculating the distance between the coordinates of each crown portion as the unevenness amount of the surface shape of the rope, and the smallest unevenness amount when a plurality of unevenness amounts can be calculated in the same crown portion. The unevenness amount selection step is compared with the smallest unevenness amount with a preset reference value, and when the smallest unevenness amount is less than the reference value, the rope is regarded as a good product, and the smallest unevenness amount is the reference value. In the above case, it is a method for detecting surface unevenness of a rope, which comprises a quality determination step of determining the quality of the rope by making the rope a defective product.

According to the present invention, since the amount of unevenness of the crown portion of the rope is measured from the three-dimensional shape data of the rope, an abnormality in the surface shape of the rope is detected regardless of the period of the twist pitch of the strands and the number of strands. The effect that can be obtained is obtained.

It is a conceptual diagram which shows the surface unevenness detection apparatus of the rope which concerns on Embodiment 1 of this invention. The rope to be measured of the present invention is shown, (a) is a diagram showing a normal rope, and (b) is a diagram showing an abnormal rope. The features of the image processing device in the surface unevenness detection device of the rope will be described. FIG. , (C) is a diagram showing three-dimensional shape data in which each shape data is arranged in the longitudinal direction of the rope. The feature of the unevenness amount calculation device in the surface unevenness detection device of a rope is explained, and it is a figure which shows the crown part extracted from the three-dimensional shape data of a rope. It is a flowchart which shows the procedure of the surface unevenness detection method of the rope which concerns on Embodiment 1 of this invention. The processing of the proximity point extraction step in the rope surface unevenness detection method according to the first embodiment of the present invention will be described, and FIG. , (B) are diagrams showing the proximity point data generated in the proximity point extraction step. It is a figure which shows the crown part extraction data generated in the crown part extraction step in the surface unevenness detection method of the rope which concerns on Embodiment 1 of this invention. It is a figure which shows the circumscribed line of one straight line fitting range calculated in the circumscribed circle calculation step in the surface unevenness detection method of the rope which concerns on Embodiment 1 of this invention. It is a figure which shows the unevenness amount calculated by the unevenness amount calculation step in the surface unevenness detection method of the rope which concerns on Embodiment 1 of this invention. It is a figure which shows the unevenness amount data generated by the optimum unevenness amount selection step in the surface unevenness detection method of the rope which concerns on Embodiment 1 of this invention. It is a conceptual diagram which shows the surface unevenness detection apparatus of the rope which concerns on Embodiment 2 of this invention. It is a conceptual diagram which shows the surface unevenness detection apparatus of the rope which concerns on Embodiment 3 of this invention. It is a figure explaining the crown part of a rope.

Embodiment 1.
FIG. 1 is a schematic view showing a configuration of a rope surface unevenness detecting device according to a first embodiment of the present invention. Here, the surface unevenness of the rope indicates the unevenness of the crown portion 15 of the rope. If the rope 9 is normal, the positions of the crown portions 15 are uniform as shown in FIG. 2 (a). However, in an abnormal rope 10 such as a rope in which an abnormality occurs in the manufacturing process or a rope in which manufacturing parameters vary greatly, the positions of the crown portions 15 are not uniform as shown in FIG. 2 (b). Since the shape is uneven, the rope surface unevenness detecting device according to the first embodiment detects the unevenness. Hereinafter, this unevenness is referred to as unevenness.

As shown in FIG. 1, the rope surface unevenness detecting device according to the first embodiment includes a linear light projection device 2, an imaging device 3, a transport device 4, an image processing device 5, and an unevenness amount calculation device 6. It is a device that acquires the three-dimensional shape data of the rope 1 by using the optical cutting method and detects the unevenness of the surface of the rope 1 from the three-dimensional shape data. Hereinafter, each of these configurations constituting the rope surface unevenness detection device will be described.

The linear light projection device 2 is a device that outputs linear light toward the surface of the rope 1 in order to detect surface irregularities of the rope 1. Hereinafter, this linear light will be referred to as linear projected light 7. Here, the linear projection light 7 output by the linear light projection device 2 is, for example, a linear projection light 7 obtained by passing laser light, LED illumination light, halogen illumination light, or the like through a cylindrical lens or a slit. Alternatively, a point light source such as a laser beam that is linearly shaken by a polygon mirror or the like, or a point light source such as a plurality of laser beams that is linearly arranged is used. The linear light projection device 2 is installed so that the longitudinal direction of the linear projection light 7 projected from the linear light projection device 2 is orthogonal to the radial direction of the rope 1, that is, the longitudinal direction of the rope 1. ing.

The imaging device 3 is a device that captures the reflected light reflected by the linear projected light 7 on the surface of the rope 1 with a two-dimensional imaging device such as a camera. Here, the image sensor 3 includes, for example, a lens having an appropriate magnification according to a range in which the diameter of the rope 1 for which surface unevenness is to be detected or the vicinity of the apex of the circumscribing cylinder of the rope 1 is sufficiently imaged. Alternatively, a filter provided with a filter for incidenting a specific wavelength and polarization direction component of the linear projected light 7 onto the image sensor, or a device provided with a diaphragm mechanism or an ND filter for incidenting an appropriate amount of light on the image sensor, etc. To use.

At this time, the image pickup apparatus 3 takes a picture from an angle different from the projection direction of the linear projection light 7. The linear projected light 7 is diffusely reflected on the surface of the rope 1 according to the uneven shape of the surface of the rope 1 to become the linear reflected light 8. The position where the linear reflected light 8 is incident on the image pickup element of the camera of the image pickup apparatus 3 changes in a direction perpendicular to the longitudinal direction of the linear reflected light 8 incident on the image pickup device 3.

The transport device 4 is a device that transports the linear light projection device 2 and the image pickup device 3 in the longitudinal direction of the rope 1 while maintaining a constant distance from the surface of the rope 1. At this time, the linear light projection device is such that the longitudinal direction of the linear projection light 7 projected from the linear light projection device 2 is always orthogonal to the radial direction of the rope 1, that is, the longitudinal direction of the rope 1. 2 and the imaging device 3 are conveyed. Since both the linear light projection device 2 and the image pickup device 3 are fixed to the substrate 30, they are conveyed in synchronization with each other. The operation of transporting the linear light projection device 2 and the image pickup device 3 may be continuous along the longitudinal direction of the rope 1, or the shape of the rope 1 may be transported to a desired position for measurement. Pitch feed may be used, such as stopping when the rope is used. Further, a transfer device 4 equipped with an encoder is used so that the encoder outputs a pulse signal according to the amount of transfer so that the surface shape of the rope 1 can be measured at regular intervals in the longitudinal direction of the rope 1. Is also good. Since the rope 1 is suspended in the vertical direction in FIG. 1, the transport device 4 is also installed in the vertical direction as shown in FIG. However, the present invention is not limited to this case, and the rope 1 may be installed so that the longitudinal direction of the rope 1 is horizontal, and the transport device 4 may be installed in the horizontal direction accordingly.

The image processing device 5 captures the light cut image 11 shown in FIG. 3A generated by photographing the linear reflected light 8 from the surface of the rope 1 with the image pickup device 3, and the line reflected in the light cut image 11. By extracting the contour line corresponding to the surface shape of the rope 1 from the image 12 of the reflected light and converting it into a spatial coordinate amount, the shape data of a certain position in the longitudinal direction of the rope 1 shown in FIG. 3 (b) can be obtained. It is a device to acquire. Hereinafter, the shape data will be referred to as round slice data 13. By transporting the linear light projection device 2 and the image pickup device 3 by the transport device 4, the image processing device 5 sequentially captures the light cut images 11 having different shooting positions along the longitudinal direction of the rope 1 and performs image processing. I will go. As a result, the image processing device 5 acquires the three-dimensional shape data 14 of the rope 1 as shown in FIG. 3C. Here, when the transfer device 4 is equipped with an encoder and outputs a pulse signal according to the transfer amount, the image processing device 5 takes in the pulse signal output from the transfer device 4 and outputs the pulse signal. A command may be issued to the image pickup apparatus 3 to capture the light cut image 11 at the timing when the pulse signal is input. As shown in FIG. 3, the surface of the rope 1 photographed by the image pickup device 3 is not the entire outer circumference of the rope 1, but a portion close to the linear light projection device 2 and the image pickup device 3, which is approximately 1/3. Surface.

The unevenness calculation device 6 takes in the three-dimensional shape data 14 of the rope 1 generated by the image processing device 5, and as shown in FIG. 4, from the three-dimensional shape data 14, the linear light projection device 2 and the image pickup device 3 The crown portion 15 closest to is extracted, and the amount of unevenness of each crown portion 15 is calculated based on the relative positional relationship between the crown portions 15. Further, the unevenness amount calculation device 6 determines whether or not the unevenness amount of each crown portion 15 is within the permissible range, and if it is within the permissible range, it is determined to be a good product, and if it is not within the permissible range, it is determined to be a defective product.

Next, the method for detecting the surface unevenness of the rope according to the first embodiment of the present invention will be described with reference to FIGS. 1 and 5. FIG. 5 is a flowchart showing the procedure of the rope surface unevenness detection method according to the first embodiment of the present invention. Here, as an example, an encoder is mounted on the transfer device 4, and when the linear light projection device 2 and the image pickup device 3 continuously move in the longitudinal direction of the rope 1 in the transfer device 4, the encoder A pulse signal is output at regular distance intervals, the pulse signal is input to the image processing device 5, and the image processing device 5 issues a command to the image processing device 3 to capture the light cut image 11 at the rising edge of the pulse signal. The system configuration.

First, in step S1, the light cut image 11 imaged by the image pickup device 3 at the rising timing of the pulse signal output from the encoder of the carrier device 4 is sequentially taken into the image processing device 5 and captured in each light cut image 11. The three-dimensional shape data 14 of the rope 1 is acquired by extracting the round slice data 13 showing the contour line corresponding to the surface shape of the rope 1 from the image 12 of the linear reflected light and converting it into a spatial coordinate amount.

In step S2, as shown in FIG. 6A, a linear light projection device is used from the three-dimensional shape data 14 or from the round slice data 13 arranged in the longitudinal direction of the rope 1 constituting the three-dimensional shape data 14. The proximity points 16 closest to 2 and the imaging device 3 are extracted, and the proximity points 16 are arranged in the longitudinal direction of the rope 1 to generate the proximity point data 17 shown in FIG. 6B. Here, the first reason for extracting the proximity point 16 from each round slice data 13 is that when the surface of the rope 1 is irradiated with the linear projection light 7, it is closest to the linear light projection device 2 and the image pickup device 3. This is because the amount of linear light reflected on the surface of the rope 1 increases, and as a result, the amount of light received by the image pickup apparatus 3 also increases. When the amount of light received by the image pickup apparatus 3 is large, the brightness of the linear reflected light image 12 reflected in the light cut image 11 becomes high, and the image processing apparatus 5 accurately extracts the contour line corresponding to the surface shape of the rope 1. Therefore, the surface shape of the rope 1 can be accurately obtained. On the other hand, at points far from the linear light projection device 2 and the image pickup device 3 of the round slice data 13, the amount of linear light reflected on the surface of the rope 1 is small, and the amount of light received by the image pickup device 3 is also small. The brightness of the linear reflected light image 12 reflected in the cut image 11 becomes low, and the image processing device 5 may not be able to accurately extract the contour line corresponding to the surface shape of the rope 1, that is, the surface shape may not be accurate. be. The second reason is that the points at the boundary between the strands of the rope 1 are not extracted. Since the boundary between the strands of the rope 1 is closer to the center side of the rope 1 than the vicinity of the center of the strands, the surface shape of the rope 1 at the position corresponding to the apex of the circumscribed circle of the round slice data 13 is assumed. When extracted, there is a possibility that the boundary point between the strands of the rope 1 is included in the point corresponding to the crown portion 15, so that it may be erroneously detected that the crown portion 15 has irregularities.

In step S3, as shown in FIG. 7, the coordinates of the crown portion 15 which is the apex portion in the surface shape of the rope 1 are extracted from the proximity point data 17 generated in step S2 and output as the crown portion extraction data 18. .. As a method of extracting the coordinates of the crown portion 15, for example, the proximity point data 17 may be differentiated and the coordinates of the proximity point data 17 existing at the same position in the longitudinal direction of the rope 1 as each zero crossing point may be extracted. , A range equivalent to the length of one strand in the longitudinal direction of the rope 1 may be provided around each zero crossing point, and the coordinates of the maximum point within that range may be extracted. Further, when extracting the zero crossing point and the coordinates of the crown portion 15, instead of the proximity point data 17, the proximity point data 17 is smoothed by a moving average filter, a moving median filter, a low-pass filter, or the like. The smoothed proximity point data performed may be used, or the smoothed proximity point data may be used only for extracting the zero-crossing points, and the original proximity point data 17 may be used for extracting the coordinates of the crown portion 15. You may. Further, as a method of not differentiating, a reference value is set in the distance direction from the linear light projection device 2 and the image pickup device 3, and the longitudinal direction of the rope 1 in which the proximity point data 17 first becomes the reference value or more from the state of being less than the reference value. The coordinates of the maximum point are sequentially set along the longitudinal direction of the rope 1 between the point of You may extract it. At this time, the reference value may be a constant specified in advance, or may be a value set each time each crown portion 15 is extracted. For example, the range in the longitudinal direction of the rope 1 for searching the maximum value and the minimum value of the proximity point data 17 and the percentage of the reference value between the maximum value and the minimum value are specified in advance, and the proximity is provided. The longitudinal point of the rope 1 where the point data 17 is first above the reference value from the state of being less than the reference value, and the longitudinal point of the rope 1 where the proximity point data 17 is first below the reference value from the state of being above the reference value. When calculating, a reference value of the specified ratio is set between the maximum value and the minimum value within the specified range.

In step S4, linear light is projected onto the crown portion extraction data 18 extracted in step S3 for each linear fitting range 19 preset in the longitudinal direction of the rope 1 as shown in FIG. A straight line circumscribing the coordinates of at least two crown portions 15 is obtained from a direction close to the device 2 and the image pickup device 3. Hereinafter, the straight line is referred to as a circumscribed line 20. Here, the linear fitting range 19 is ideally "the length of one strand in the longitudinal direction of the rope x the number of strands used for one rope x 2 or more". Further, as a method of obtaining the extrinsic line 20, for example, the linear light projection device 2 and the imaging are performed from the coordinates of all the crown portions 15 passing through the two points of the crown portion 15 in the linear fitting range 19 and in the linear fitting range 19. A straight line close to the device 3 may be selected. When there are a plurality of straight lines with the same conditions, the straight line in which the coordinates of the two crown portions 15 through which the straight lines pass is the farthest in the longitudinal direction of the rope 1 is selected. Further, although it is described here that the circumscribed line 20 is obtained, it is not always necessary because the unevenness amount 21 obtained in the next step S5 may be a value indicating the relative positional relationship between the coordinates of each crown portion. It does not have to be the circumscribed line 20, but may be a straight line obtained by the least squares method using the coordinates of all the crown portions 15.

In step S5, as shown in FIG. 9, in the straight fitting range 19, the distance between the circumscribed line 20 obtained in step S4 and the coordinates of each crown portion 15 extracted in step S3 is obtained, and this distance is calculated for each crown portion. The amount of unevenness is 21.

Steps S4 and S5 are steps performed within the linear fitting range 19 at one location in the crown portion extraction data 18 extracted in step S3. In order to calculate the uneven amount 21 of the entire crown portion extraction data 18, the linear fitting range 19 is sequentially shifted by one pitch of the crown portion 15 in the longitudinal direction of the rope 1, and each time the linear fitting range 19 is updated. , Step S4 and step S5. In this way, the linear fitting range 19 is ideally set to "the length of one strand in the longitudinal direction of the rope x the number of strands used in one rope x 2 or more" instead of the total length in the longitudinal direction of the rope 1. The reason for setting and sequentially shifting in the longitudinal direction of the rope 1 is to prevent excessive detection of the unevenness amount 21 due to the large undulation of the rope 1. When the rope 1 is stored in a state where it is wound around a drum or in a state where the rope 1 is bent, the rope 1 has a habit during storage and a large undulation is seen in the surface shape of the rope 1, so that the rope 1 is tentatively used. If the circumscribed line 20 is obtained with respect to the total length in the longitudinal direction, the amount of unevenness 21 that should originally be within the permissible range exceeds the permissible range due to the large undulation, resulting in over-detection.

As described above, the linear fitting range 19 is sequentially shifted in the longitudinal direction of the rope 1 by one pitch of the crown portion 15, and steps S4 and S5 are executed each time. Therefore, two or more unevenness amounts 21 are calculated for the same crown portion 15 except for the first crown portion and the last crown portion. Then, when a plurality of unevenness amounts 21 exist for the same crown portion 15, in step S6, the optimum unevenness amount is selected from the plurality of unevenness amounts 21. As shown in FIG. 10, the optimum unevenness amount data 22 of each crown portion 15 arranged in the longitudinal direction of the rope 1 is generated. As a method for selecting the optimum amount of unevenness, the amount of unevenness having the smallest value may be selected, the amount of unevenness having the largest value may be selected, or the average value of the amount of unevenness 21 of each crown portion 15 may be used. good. For example, from a detection method using a pressure-sensitive paper, which applies a pressure-sensitive paper to the rope, rubs a plate from above, transfers the unevenness of the surface of the rope to the pressure-sensitive paper, and detects the unevenness from the shading of the pressure-sensitive paper after transfer. When the method for detecting surface unevenness of the rope according to the first embodiment of the present invention is used, the pressure-sensitive paper after transfer retains the degree of shading when the rope and the pressure-sensitive paper are in close contact with each other. If a small amount of unevenness is selected, the degree of shading of the pressure-sensitive paper after transfer and the amount of unevenness data are highly correlated, so that the same quality judgment criteria as the detection method using the pressure-sensitive paper can be used.

In step S7, in the unevenness amount data 22 generated in step S6, the unevenness amount 22 of each crown portion 15 is compared with the quality judgment reference value of the unevenness amount set in advance, and the unevenness amount is less than the quality judgment standard. In the case of, the rope 1 is determined to be a non-defective rope, and on the other hand, when the amount of unevenness is equal to or greater than the quality determination reference value, the rope 1 is determined to be a defective rope.

As described above, according to the first embodiment, the three-dimensional shape data 14 of the rope 1 is acquired by the optical cutting method using the linear light projection device 2 and the image pickup device 3, and the three-dimensional shape data 14 is linear. The value of the proximity point 16 closest to the light projection device 2 and the image pickup device 3 is extracted to generate the proximity point data 17, and the crown portion extraction data 18 is extracted from the proximity point data 17 as the coordinate data of the crown portion 15 of the rope 1. Then, the extrinsic line 20 in contact with the coordinates of the crown portion 15 is calculated for each preset straight line fitting range 19, the distance between the extrinsic line 20 and the crown portion 15 is calculated as the unevenness amount 21, and the same crown portion is calculated. The smallest uneven amount in 15 is selected as the optimum uneven amount 22, and the quality of the rope is determined by comparing the optimum uneven amount with the quality determination reference value. As described above, in the first embodiment, since the uneven amount 22 of the crown portion 15 of the rope is measured from the three-dimensional shape data 14 of the rope 1, the twist pitch period of the strands and the number of strands are irrelevant. The effect of being able to detect an abnormality in the surface shape of the rope 1 can be obtained.

Embodiment 2.
FIG. 11 is a schematic view showing the configuration of the rope surface unevenness detecting device according to the second embodiment of the present invention. The difference from the configuration of the rope surface unevenness detecting device according to the first embodiment shown in FIG. 1 is that the rope tension adding device 23 is added in FIG.

As shown in FIG. 11, the rope tension applying device 23 in the rope surface unevenness detecting device is a device for applying tension to the rope 1. The rope tension applying device 23 has a housing 230, a holding portion 231 holding two locations in the longitudinal direction of the rope 1, and a rope 1 held by the holding portion 231 at two locations along the longitudinal direction of the rope 1. It is composed of a tension adding portion 232 that applies tension to the rope 1 by pulling it in the opposite direction.

The reason for applying tension to the rope 1 by the rope tension applying device 23 will be described. When the rope 1 is stored wrapped around a drum, or when the rope 1 is stored in a bent state, the rope 1 may have a habit of storage. Further, slack may occur in the rope 1 due to gravity, or slack may occur in the rope 1 when the rope 1 is held at intervals shorter than the length of the rope 1. Due to such a habit of storing the rope 1 or the slack of the rope 1, a large undulation can be seen in the surface shape of the rope 1. As a result, due to the large undulation, the uneven amount 21 which should be within the permissible range may exceed the permissible range, resulting in over-detection. Therefore, in the second embodiment, the rope tension applying device 23 applies tension to the rope 1, so that the habit of storing the rope 1 and the slack of the rope 1 are removed, and the crown portion of the rope 1 is removed. Since the unevenness amount 21 of 15 is measured and the abnormality of the rope 1 is detected, the excessive detection can be suppressed and the unevenness amount 21 can be measured with high accuracy.

As described above, in the second embodiment, since the central axis of the rope 1 approaches a straight line by applying the tension to the rope 1 by the rope tension applying device 23, the habit of storing the rope 1 and the slack of the rope 1 It is possible to reduce the excessive detection of the unevenness amount 21 due to the above.

Since the method for detecting the surface unevenness of the rope according to the second embodiment is the same as that of the first embodiment, the description thereof will be omitted here.

As described above, according to the second embodiment, as in the first embodiment, the amount of unevenness of the crown portion of the rope is measured regardless of the period of the twist pitch of the strands and the number of strands, and an abnormality is detected. The effect of being able to detect can be obtained. Further, in the second embodiment, the rope tension applying device 23 applies tension to the rope 1 to remove the habit of storing the rope 1 and the slack of the rope 1, so that the rope 1 can be stored. It is possible to reduce the excessive detection of the unevenness amount 21 due to the habit or the slack of the rope 1.

Embodiment 3.
FIG. 12 is a schematic view showing the configuration of the rope surface unevenness detecting device according to the third embodiment of the present invention. The difference from the configuration of the rope surface unevenness detection device according to the first embodiment shown in FIG. 1 is that in FIG. 12, the transport device 4 for moving the linear light projection device 2 and the image pickup device 3 in the longitudinal direction of the rope. Instead, a rope feeding device 25 for moving the long rope 24 in the longitudinal direction is provided.

In the third embodiment, since the long rope 24 is moved in the longitudinal direction by the rope feeding device 25, it is not necessary to move the linear light projection device 2 and the imaging device 3 in the longitudinal direction of the rope. Therefore, in FIG. 12, the linear light projection device 2 and the image pickup device 3 are in fixed positions. Further, the pulse signal input by the image processing device 5 is output from the rope feeding device 25. Although the rope feeding device 25 is installed in the horizontal direction in FIG. 12, the rope feeding device 25 may be installed in the vertical direction.

As shown in FIG. 12, the rope feeding device 25 includes drum support portions 26 and 27 for supporting the drum around which the rope is wound, a guide roller 28 for transporting the rope in the longitudinal direction, and a guide roller equipped with an encoder. It is composed of 29.

The drum support portion 26 is set with the drum 40 on which the long rope 24 was originally wound and supports the drum 40. Further, the drum support portion 27 is set with a drum 41 for rewinding the long rope 24 for which the measurement of the unevenness amount of the crown portion 15 has been completed, and supports the drum support portion 27.

The guide roller 28 and the guide roller 29 have the same basic configuration and operation, but differ from the other guide rollers 28 in that only the guide roller 29 is equipped with an encoder. As will be described later, the guide roller 29 on which the encoder is mounted does not necessarily have to be used, and all the guide rollers may be composed of the guide rollers 28.

As shown in FIG. 12, the rope feeding device 25 moves the long rope 24 in the longitudinal direction of the rope by rewinding the long rope 24 wound around the drum 40 on another drum 41. At this time, the rope feeding device is such that the longitudinal direction of the linear projection light 7 projected from the linear light projection device 2 is orthogonal to the radial direction of the long rope 24, that is, the longitudinal direction of the long rope 24. 25, the linear light projection device 2 and the image pickup device 3 are installed.

Further, the feeding operation of the long rope 24 by the rope feeding device 25 may be continuously fed along the longitudinal direction of the long rope 24, or may be fed to a position where the shape of the long rope 24 is desired to be measured. , Pitch feed such as stopping at the time of measurement may be used. Further, a guide roller 29 equipped with an encoder is provided so as to come into contact with the long rope 24 so that the shape can be measured at regular intervals in the longitudinal direction of the rope, and a passle signal is transmitted according to the feed amount of the long rope 24. You may output it.

Further, tension may be applied to the long rope 24 by providing a difference in the rotation speed between the drum 40 in which the long rope 24 is originally wound and the drum 41 in which the long rope 24 is rewound. For example, increasing the tension of the long rope 24 by making the rotation speed of the drum 41 that rewinds the long rope 24 faster than the rotation speed of the drum 40 that the long rope 24 was originally wound around. Can be done. By applying tension to the long rope 24 in this way, the central axis of the long rope 24 approaches a straight line, so that the amount of unevenness 21 due to the habit of storing the long rope 24 and the slack of the long rope 24 21. Over-detection can be reduced.

Further, as shown in FIG. 12, the guide rollers 28 and 29 are located between the support portions 26 and 27 so that the long rope 24 is located within a range where the shape can be measured by the linear light projection device 2 and the image pickup device 3. It is desirable to be placed. However, the installation positions of the guide rollers 28 and 29 are not limited to this, and may be changed as appropriate.

The image processing device 5 in the rope surface unevenness detecting device shown in FIG. 12 has the same operation as that of the first embodiment in acquiring the three-dimensional shape data 14 of the rope, but the shape is formed at regular intervals in the longitudinal direction of the rope. To enable measurement, a pulse signal output from a guide roller 29 equipped with an encoder of the rope feeding device 25 is taken in, and an image is taken so as to capture an optical cut image 11 at the timing when the pulse signal is input. A command may be issued to the device 3.

Since the method for detecting the surface unevenness of the rope according to the third embodiment is the same as that of the first embodiment, the description thereof will be omitted here.

As described above, according to the third embodiment, as in the first embodiment, the amount of unevenness of the crown portion of the rope is measured regardless of the period of the twist pitch of the strands and the number of strands, and an abnormality is detected. The effect of being able to detect can be obtained. Further, in the third embodiment, the rope feeding device 25 may be used to apply tension to the rope. In that case, the habit of storing the rope and the slack of the rope can be removed. It is possible to reduce the excessive detection of the amount of unevenness due to storage habits or slack of the rope.

1 rope, 2 linear light projection device, 3 imaging device, 4 transport device, 5 image processing device, 6 unevenness calculation device, 7 linear projection light, 8 linear reflected light, 11 light cut image, 12 linear reflection Light image, 13 round slice data, 14 3D shape data, 15 crown part, 17 proximity point data, 18 crown part extraction data, 19 straight fitting range, 20 tangent line, 21 unevenness amount, 22 unevenness amount data, 23 rope tension Additional equipment, 24 long ropes, 25 rope feeders, 28,29 guide rollers.

Claims (6)

The position in the longitudinal direction of the rope is to project linear light onto the surface of the rope and image the reflected light of the linear light reflected on the surface of the rope from an angle different from the projection direction of the linear light. A three-dimensional shape acquisition step of sequentially performing while changing, acquiring ring-cutting data showing the surface shape of the rope at each position in the longitudinal direction of the rope, and acquiring the three-dimensional shape data of the rope from the round-cutting data. ,
A proximity point extraction step of extracting the values of the points closest to the projection position of the linear light and the imaging position of the reflected light from the sliced data constituting the three-dimensional shape data and outputting them as proximity point data.
From the proximity point data, the coordinates of the crown portion, which is the apex portion in the surface shape of the rope, are obtained, and the crown portion extraction step is output as the crown portion extraction data.
A circumscribed line calculation step for calculating a circumscribed line circumscribing the coordinates of two or more crowns in the crown extraction data for each preset range with respect to the crown extraction data.
For each of the preset ranges, a step of calculating the amount of unevenness for calculating the distance between the circumscribed line and the coordinates of each crown part in the data for extracting the crown part as the amount of unevenness of the surface shape of the rope.
The optimum uneven amount selection step for selecting the smallest uneven amount when a plurality of uneven amounts can be calculated in the same crown portion, and
The smallest uneven amount is compared with a preset reference value, the rope is regarded as a non-defective product when the smallest uneven amount is less than the reference value, and the rope is considered when the smallest uneven amount is equal to or more than the reference value. A method for detecting surface unevenness of a rope, which comprises a quality determination step of determining the quality of the rope by making the rope defective. A linear light projection device that projects linear light onto the surface of the rope,
An imaging device that captures the reflected light of the linear light projected on the surface of the rope from an angle different from the projection direction of the linear light.
A relative moving device that relatively moves the positional relationship between the surface of the rope and the linear light projection device and the imaging device along the longitudinal direction of the rope.
The process of acquiring the surface shape of the rope from the light cut image generated by imaging the linear light projected on the surface of the rope is performed by the relative moving device to the linear light projection device and the imaging device. Is sequentially performed while moving along the longitudinal direction, and sliced data showing the surface shape of the rope at each position in the longitudinal direction is generated, and the three-dimensional shape data of the rope is generated from the sliced data. Processing equipment and
From the round slice data that constitutes the three-dimensional shape data generated by the image processing apparatus, the values of the points closest to the projection position of the linear light and the imaging position of the reflected light are extracted, and proximity point data is generated. The crown portion extraction data is generated by obtaining the coordinates of the crown portion that is the apex portion in the surface shape of the rope from the proximity point data, and the crown portion extraction data is generated for each preset range with respect to the crown portion extraction data. The extrinsic line circumscribing the coordinates of two or more crown portions in the part extraction data is calculated, and the distance between the extrinsic line and the coordinates of each crown portion in the crown portion extraction data is calculated for each preset range. calculated as the irregularity of the surface shape of the rope, calculated the amount of unevenness was has a concave-convex calculation unit for detecting an abnormality of the surface shape of the rope in the case of more than a preset reference value, the surface of the rope Concavo-convexity detection device. The unevenness calculation device selects the smallest unevenness amount when a plurality of unevenness amounts can be calculated in the same crown portion, and when the selected minimum unevenness amount is equal to or larger than the reference value, the surface of the rope. Detects shape abnormalities
The rope surface unevenness detecting device according to claim 2. The relative moving device is composed of a linear light projection device and a transport device that transports the image pickup device along the longitudinal direction of the rope.
The rope surface unevenness detecting device according to claim 2 or 3. The relative moving device comprises a rope feeding device that moves the rope in the longitudinal direction of the rope by rewinding the rope wound around the drum to another drum.
The rope surface unevenness detecting device according to claim 2 or 3. A rope tension applying device for applying tension to the rope is further provided.
The rope surface unevenness detecting device according to any one of claims 2 to 5.

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