JP7005835B2 - Sensing method for automatically loading cylindrical products on mobile skids - Google Patents

Description

In the present invention, for example, a cylindrical product obtained by winding a thin product such as a paper mill or a steel mill in a roll shape is carried out on a moving body from the product yard by using an automatic crane operating in the product yard or the like. It relates to a sensing method for automatically loading on a skid for preventing rolling arranged in.

In recent years, the work of transporting a cylindrical product wound in a roll shape at a product storage place such as a paper mill or a steel mill is often unmanned by using an automated crane that has been automatically operated. For example, the storage, stacking, transshipment work, and transportation of cylindrical products in the product storage area are performed by automated unmanned operation of an automatic crane (see, for example, Patent Document 1).

On the other hand, for a moving body brought in from the outside to be carried out from the product storage area, a skid for preventing rolling installed on the moving body (referred to as "moving body skid" in the present specification). There are many uncertainties such as the shape, the shape of the moving body, and the stop position of the moving body. For this reason, loading onto a skid on a moving object brought in from the outside has the effect of saving labor by the automatic operation of the automatic crane, such as canceling the unmanned operation of the automatic crane and operating the overhead crane with human intervention. There is a fact that it is damaged.

Japanese Unexamined Patent Publication No. 6-323809

In view of the problems of the moving body skid, which has many uncertainties, including the shape of the moving body and the stop position of the moving body, the present invention also uses an automatic crane to form a cylinder for such a moving body skid. It is an object of the present invention to provide a sensing method for enabling automatic loading of a state-of-the-art product.

In order to achieve the above object, the sensing method for automatically loading a cylindrical product on a moving skid of the present invention is a sensing method for automatically loading a cylindrical product on a moving skid using an automatic crane. The shape and position of the moving body skid are measured using a distance sensor, and a virtual circle derived from the diameter data of the cylindrical product is placed on the measured data, and the arc on the right half of the virtual circle and the moving body skid are placed. Determine the position where the vertical distance is the smallest and the position where the arc on the left half of the virtual circle and the vertical distance of the moving body skid are the smallest, and virtual so that the left and right vertical distances of the position are equal. By moving the circle horizontally, the horizontal position of the virtual circle where the vertical distances on the left and right are equal is determined, and the horizontal position of the determined virtual circle is set on the moving skid by the cylindrical product. It is characterized in that a cylindrical product is automatically loaded on a moving skid by an automatic crane as a position where it can be stably contacted and seated at two points.

In this case, when moving the virtual circle horizontally so that the left and right vertical distances are equal, the values of the left and right vertical distances are compared, and the virtual circle is moved in the direction in which the numerical value is large. The cylindrical product is stable at two points on the moving skid at the position where the values of the vertical distances on the left and right are equal, or the position where the difference between the values of the vertical distances on the left and right is reversed. Cylindrical products can be automatically loaded on the moving skid by an automatic crane as a position where the user can sit in contact with the skid.

Further, when the position where the left and right vertical distances are the smallest in the horizontal position of the virtual circle in which the indexed left and right vertical distances are equal exists near the vertical line passing through the center of the virtual circle. It is possible to determine that the cylindrical product cannot be stably contacted with the moving skid at two points so that it can be seated.

Further, a vertical line passing through the center of the virtual circle at the horizontal position of the virtual circle in which the indexed left and right vertical distances are equal, and a vertical line passing through the center of the moving body in which the moving body skid is installed. It is possible to determine that the running stability of the moving body is impaired when the speed is significantly deviated.

According to the sensing method for automatically loading a cylindrical product on a moving body skid of the present invention, even for a moving body skid having many uncertainties including the shape of the moving body and the stop position of the moving body, it is automatic. Cylindrical products can be automatically loaded using a crane, and the labor saving effect of unmanned operation of the automatic crane can be demonstrated.

In addition, it is judged that the cylindrical product cannot be stably contacted with the moving body skid at two points so that it can be seated, and that the running stability of the moving body is impaired. It can be performed at the time of automatic loading, and workability and safety can be improved.

It is explanatory drawing of one Example of the sensing method for automatically loading a cylindrical product on a moving body skid of this invention. It is explanatory drawing of the typical example of the cross-sectional shape of a moving body skid. It is explanatory drawing of the position where a cylindrical product sits in a moving body skid. It is explanatory drawing of the method of determining the position where a cylindrical product sits in a moving body skid.

Hereinafter, a sensing method for automatically loading a cylindrical product on the mobile skid of the present invention will be described with reference to the drawings.

1 to 4 show an embodiment of a sensing method for automatically loading a cylindrical product on a mobile skid of the present invention.

In order to implement a sensing method for automatically loading a cylindrical product on this moving body skid, as shown in FIG. 1, the traveling direction of the automatic crane CR that carries the cylindrical product CO is forward and downward from the automatic crane CR. A wide-area distance sensor MS that scans the scanning line toward the crane is attached, and when the cylindrical product CO suspended by the lifter CL on the automatic crane CR reaches the moving body skid SK, the wide-area distance The sensor MS is arranged so as to pass through the entire range on the moving skid SK.

When the automatic crane CR is automatically driven in the direction of the mobile skid SK, the wide range sensor MS scans the position of the mobile skid SK before reaching the destination, so that the automatic crane CR scans the position of the mobile skid SK. While approaching the SK, the position of the moving body skid SK, which is the destination, can be recognized.

Here, since the mobile skid SK on the mobile TR brought in from the outside has various shapes, it is necessary to determine which position on the mobile skid SK is the position where the cylindrical product CO is stably seated.

Therefore, as shown in FIG. 3, first, the height data of the moving body skid SK is created by measuring the shape and position of the moving body skid SK using the wide area distance sensor MS, and the height data is used as the height data. Based on this, draw the height line of the mobile skid SK in the computer.

Next, a virtual circle VC derived from the diameter data of the cylindrical product CO is drawn on the height line of the mobile skid SK in the computer.
The diameter data of the cylindrical product CO is measured each time and input into the computer, and is also input into the computer in advance by measuring at the time of manufacturing the cylindrical product CO (for example, an individual of the cylindrical product CO). You can enter it by associating it with the identification number.)

Then, as shown in FIG. 4, the position where the distance between the arc on the right half of the virtual circle VC and the moving body skid SK in the vertical direction is the smallest (hereinafter, referred to as “the shortest distance portion in the right vertical direction SDR”) and the virtual circle. The arc on the left half of the VC and the position where the vertical distance of the moving body skid SK is the smallest (hereinafter referred to as "the shortest distance in the left vertical direction SDL") are determined, and the left and right vertical distances at that position are equal. The virtual circle VC is moved horizontally so as to be, the horizontal position of the virtual circle VC whose left and right vertical distances are equal is determined, and the horizontal position of the determined virtual circle VC is moved. The position is such that the cylindrical product CO can stably contact the body skid SK at two points so that it can sit there.
Based on the position where the indexed cylindrical product CO can stably contact and sit at two points, the target coordinates of the automatic crane CR are set, and the moving body skid SK is set by the automatic crane CR. Cylindrical product CO is automatically loaded in.

Hereinafter, a description will be given based on a specific example.
For example, when a cylindrical product CO, which is a roll of thin products such as a paper mill or a steel mill, is carried out from the product storage area, the moving body TR and the moving body mounted on the moving body TR are within a certain range. The skid SK is stopped and placed.

At this time, the individual identification number of the cylindrical product CO to be carried out from the computer that manages the delivery of the cylindrical product CO to the transport management computer of the automatic crane CR (this individual identification number is the diameter of the cylindrical product CO). Information such as data is linked.) Is transmitted.
The automatic crane CR automatically grips the cylindrical product CO with the lifter CL and automatically moves and transports the moving body skid SK from the product storage area in the direction in which the moving body skid SK is arranged (traveling direction TF).

A wide-area distance sensor MS is attached in front of the traveling direction TF of the automatic crane CR so that the scanning line is scanned downward, and the data measured by the wide-area distance sensor MS and the automatic crane CR at the time of the measurement. By matching the positions of the above, the shape (height) and position of the arrangement on the floor can be measured over a wide range while moving the automatic crane CR.

Here, the dimension B of the mounting position of the wide area distance sensor MS takes into account the moving distance dimension α which is the sum of the central position distance A of the moving body skid SK, the braking distance of the automatic crane CR, and the positioning distance from the end of the moving body TR. By setting the dimensions to be set, a series of operations of measurement, recognition, deceleration of automatic crane CR, and positioning stop can be performed continuously at a continuous speed, and the moving body skid SK can be performed with efficient automatic operation time. It is possible to perform centering to.

When the cylindrical product CO is carried out to the outside, it is usually difficult to specify the shape of the mobile skid SK because the mobile skid SK owned by an external specialist is brought in.
As a typical example of the mobile skid SK, two square-shaped mobile skids SK are arranged on a flat carriage of the mobile TR as shown in FIG. 2 (a), as shown in FIG. 2 (b). There is a mobile skid SK with a V-shaped groove cut in the loading platform of the mobile TR, but there are other shapes as well, and the center for the mobile skid SK of any shape. It is required to be able to ring.
In order to ensure the running stability of the moving body TR, the moving body skid is located so that the center position of the moving body skid SK is located near the center line TC (vertical line passing through the center of the moving body TR) of the moving body TR. Since SKs are often arranged, the following description will be made on the premise of this, but other things such as those in which mobile skid SKs are arranged in two rows can also be dealt with.

When the measurement of the entire moving body TR using the wide area distance sensor MS is completed, the object at the highest position in the loading area of the moving body TR is searched for, and this is recognized as the stopper SP for preventing lateral slippage.
Since the cylindrical product CO is loaded behind the lateral slip prevention stopper SP, the height data of the moving body TR behind the lateral slip prevention stopper SP is picked up by the data string in the horizontal X direction column.

Then, from this data string, two points are picked up at the boundary between the numerical data position where the vertical Y direction data is the height of the moving body TR and the position where the vertical Y direction data is the floor level FL data. Since the numerical difference between the two horizontal X-direction data is the width dimension W of the moving body TR, the center line TC of the moving body TR at the position of 1/2 of the value is calculated.
Subsequently, the virtual circle VC derived from the diameter data of the cylindrical product CO to be loaded above the center line TC of the data column of the horizontal X-direction column behind the stopper SP for preventing lateral slip is used as the center line CC (virtual circle VC). Align the vertical line passing through the center).

Here, in the case of a one-row arrangement, the virtual circle VC is arranged at the center position of the moving body TR, but in the case of a multi-row arrangement such as a two-row arrangement or a three-row arrangement, the positions corresponding to the number of arrangements are proposed. A virtual circle VC is placed in.

Subsequently, the point CDP on the circumference of the virtual circle VC above the vertical Y direction of each dot point TDP of the moving body TR (hereinafter, may be displayed only by a code (the same applies to other codes)) is calculated. Then, the distance in each Y direction between each TDP and each CDP directly above it in the vertical Y direction is calculated, and the point SDR where the distance between each TDP and each CDP on the right side R of the virtual circle VC is short, and the left side of the virtual circle VC. The point SDL having a short distance between each TDP of L and each CDP is determined. The point where both values are equal is the point where the cylindrical product CO is placed on the moving body skid SK.

In order to ensure the stability of the moving body TR during traveling, the cylindrical product CO has a moving body skid SK so that the center line CC of the cylindrical product CO is located on the vertical line of the center line TC of the moving body TR. Although they should be arranged, in reality, as shown in FIG. 4, there is a slight deviation in the position of the mobile skid SK. Therefore, even if the center of the virtual circle VC is aligned with the center of the moving body TR, there is a difference in the distance between the shortest distance portion SDR in the right vertical direction and the shortest distance portion SDL in the left vertical direction of the virtual circle VC.
At this time, the values of SDR and SDL are compared while the virtual circle VC is moved in the horizontal X direction to the side where the values of SDR and SDL are large (L on the left side in the case of FIG. 4). At this time, the point where the values of SDR and SDL are the same is the point where the cylindrical product CO is stabilized when the cylindrical product CO is placed on the moving skid SK.
Specifically, since digital processing is performed in the computer, the virtual circle VC is moved at regular pitch intervals. Therefore, as the pitch movement is repeated, the point where SDR and SDL become equal is passed. When this is passed, the magnitude of the SDR and SDL values is inverted, so there is a point where SDR and SDL are equal just before this inverted point, and the difference between the SDR and SDL values before and after the inverted point. The point with the smaller value (this point is the position closest to the position where the magnitudes of the SDR and SDL are reversed) is the point that stabilizes when the cylindrical product CO is placed on the moving skid SK. ..

When the points of the two points SDR and SDL that come into contact with each other when the cylindrical product CO is placed on the moving skid SK are determined, the cylindrical product CO is automatically loaded from the coordinates of the two points and the radius of the cylindrical product CO. The X-axis and Y-axis coordinates are determined.
In addition, the Z-axis coordinates are determined from the correlation with the position of the stopper SP for preventing lateral displacement, and the automatic crane CR is automatically operated with the X, Y, and Z-axis coordinates as targets to perform automatic loading.

Here, when the positions of SDR and SDL, which are the points where the mobile skid SK and the cylindrical product CO meet, are located near the center line CC of the virtual circle VC (this determination is, for example, the diameter of the virtual circle VC). Each can be arbitrarily set in the range of about 15 to 30%.) The movement of the moving body TR in which the cylindrical product CO is loaded on the moving body skid SK cannot be stably loaded. Cylindrical product CO may roll inside.
Further, when the positions of the center line CC of the virtual circle VC and the center line TC of the moving body TR at the positions calculated that the cylindrical product CO is stably arranged on the moving body skid SK are significantly deviated (this determination). Can be arbitrarily set in the range of, for example, about 10 to 30% of the width dimension of the moving body TR), and the center of gravity of the moving body TR may shift and a danger may occur in the movement.
Therefore, in such a case, the automatic loading is interrupted, and the operator is instructed to make adjustments by biting the mobile skid SK.

According to the sensing method for automatically loading a cylindrical product on the mobile skid, even for the mobile skid SK with many uncertainties including the shape of the mobile TR and the stop position of the mobile TR. Cylindrical product CO can be automatically loaded using the automatic crane CR, and the labor saving effect of the unmanned operation of the automatic crane CR can be exhibited.
In addition, the mobile skid SK is determined that the cylindrical product CO cannot stably contact the mobile skid SK at two points so that it can sit there, and that the running stability of the mobile TR is impaired. This can be performed when the cylindrical product CO is automatically loaded, and workability and safety can be improved.

The sensing method for automatically loading a cylindrical product on the mobile skid of the present invention has been described above based on the embodiment, but the present invention is not limited to the configuration described in the above embodiment. The configuration can be changed as appropriate within the range that does not deviate from the purpose.

The sensing method for automatically loading a cylindrical product on a moving body skid of the present invention is to use an automatic crane even for a moving body skid with many uncertainties, including the shape of the moving body and the stop position of the moving body. Cylindrical products can be automatically loaded using this, and because it has the characteristic of being able to demonstrate the labor-saving effect of unmanned operation of automatic cranes, thin products such as paper mills and steel mills can be used. Applications for automatically loading a cylindrical product wound in a roll shape into a skid for preventing rolling placed on a moving body for carrying it out from the product storage area using an automatic crane that operates in the product storage area, etc. Can be suitably used for.

CR Automatic Crane MS Wide Area Distance Sensor CO Cylindrical Product TR Mobile SK Mobile Skid SP Horizontal Anti-Slip Stopper CL Lifter TF Automatic Crane Travel Direction SC Wide Range Sensor Scan Line A Move from the end of the moving body to the center of the moving body skid Distance B Wide area distance sensor mounting position dimension α Travel distance dimension X Horizontal direction (X axis)
Y vertical direction (Y axis)
Z depth direction (Z axis)
Measurement by TDP wide area distance sensor Dot point W Width dimension of moving object FL Floor level VC Virtual circle CDP Dot point on the circumference of virtual circle R Right side L Left side SDR Right side Vertical shortest distance part SDL Left side Vertical shortest distance part TC movement Body centerline CC Virtual circle centerline

Claims (4)

In the sensing method for automatically loading cylindrical products on mobile skids using an automatic crane.
Measure the shape and position of the mobile skid using a wide range sensor,
A virtual circle derived from the diameter data of the cylindrical product is placed on the measured data.
The position where the vertical distance between the arc on the right half of the virtual circle and the moving body skid is the shortest and the position where the arc on the left half of the virtual circle and the vertical distance between the moving body skid are the shortest are determined.
Move the virtual circle horizontally so that the left and right vertical distances of the position are equal, and determine the horizontal position of the virtual circle where the left and right vertical distances are equal.
The horizontal position of the indexed virtual circle is set so that the cylindrical product can stably contact and sit on the moving skid at two points, and the cylindrical product is automatically placed on the moving skid with an automatic crane. A sensing method for automatically loading a cylindrical product onto a moving skid, which is characterized by being loaded. When moving the virtual circle horizontally so that the left and right vertical distances are equal, the values of the left and right vertical distances are compared, and the virtual circle is moved in the direction in which the value is larger, and the left and right sides are moved. The cylindrical product stably contacts the moving skid at two points at the position where the vertical distance values are equal or the position where the difference between the left and right vertical distance values is reversed. The sensing method for automatically loading a cylindrical product on a moving skid according to claim 1, wherein the cylindrical product is automatically loaded on the moving skid by an automatic crane as a position where the user can sit down. .. Move when the position where the left and right vertical distances are the smallest in the horizontal position of the virtual circle where the calculated left and right vertical distances are equal is near the vertical line passing through the center of the virtual circle. The method for automatically loading a cylindrical product on a mobile skid according to claim 1, wherein it is determined that the cylindrical product cannot be stably contacted with the body skid at two points so as to be able to sit. Sensing method. The vertical line passing through the center of the virtual circle at the horizontal position of the virtual circle in which the indexed left and right vertical distances are equal and the vertical line passing through the center of the moving body on which the moving body skid is installed are large. The sensing method for automatically loading a cylindrical product on a moving body skid according to claim 1, wherein it is determined that the running stability of the moving body is impaired when the moving body is displaced.

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