JPH06263388A - Coil position measuring device - Google Patents

Abstract

PURPOSE:To provide a measuring device having a simple structure with less vibration by linearly scanning a plurality of positions on a coil with a plurality of leaser beams with the use of a transverse runner, and by traversing the transverse runner during the scanning so as to collect data necessary for the positional measurement. CONSTITUTION:A laser distance meter 30 is attached, facing downward, to a transverse runner 20 which can freely run in the X-axial direction above a coil 10 introduced into a coil yard, and which can slightly move in the Y-axial direction. The laser distance meter 30 has a plurality of projecting parts Pa to P11 for projecting laser beams right downward, which are located in the center part of the transverse member 20 in the X-axial direction, and which are arranged at predetermined pitches in the Y-axial direction. The laser distance meter 30 receives reflected beams of the laser beams projected from the projecting parts P1 to P12 at light receiving parts M1, M2 so as to measure distances to reflecting points. A controller stores therein distances to a plurality of points measured by the laser distance meter 30, corresponding to the moving positions of the transverse runner 20, and performs several kinds of computation for specifying the position of the coil.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a coil position measuring device for measuring the position of a coil placed in a coil yard using a laser.

[0002]

2. Description of the Related Art When a coil carried into a coil yard is hoisted by an automatic crane, the position of the coil is measured in order to guide the automatic crane onto the coil. Image processing using a CCD camera has been frequently used for this measurement. However, when measuring the coil position using image processing, there are problems that the measuring device is complicated and expensive, or if the surface of the coil is shining, the coil cannot be distinguished from the background and measurement is impossible. It was Therefore, measurement of the coil position by a laser can be considered. An example thereof is shown in FIG.

The laser range finder 40 utilizes triangulation and projects a laser beam right below and receives the reflected light on a light receiving axis inclined with respect to the projection axis to measure the distance to the reflection point. taking measurement. When measuring the position of the coil 10 using the laser range finder 40, it is necessary to scan the coil 10 in the X and Y directions with laser light. In the measuring method of FIG. 5, scanning in the Y direction is performed by swinging the laser rangefinder 40.

[0004]

In such a coil position measuring method using a laser, data necessary for measuring the position of the coil 10 can be obtained. However, the laser rangefinder 40
The structure of the measuring device becomes complicated because
Further, the life of the laser range finder 40 may be shortened due to the vibration accompanying the swinging of the head. Further, there is a problem that it takes a long time to swing, and it takes a long time to perform a calculation for data processing, resulting in a long measurement time.

The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide a coil position measuring device that collects data necessary for coil position measurement in a short time, has a simple structure, and has little vibration. To aim.

[0006]

SUMMARY OF THE INVENTION A coil position measuring device according to the present invention is a coil position measuring device for measuring the position of a coil placed in a coil yard by using a laser. A laser distance meter that projects a laser beam directly below each of the light units, receives each reflected light by the light receiving unit and measures the distance to each reflection point, and holds the laser distance meter, A lateral traveling body that traverses in the parallel direction of the light projecting portions by a distance equal to or more than the parallel distance and travels in a direction perpendicular to the parallel direction of the light projecting parts, and the laser corresponding to the moving position of the lateral traveling body. An arithmetic unit for inputting the distance to each reflection point measured by the distance meter and performing an arithmetic operation necessary for measuring the coil position is provided.

[0007]

By the traveling of the lateral traveling body, the plural positions of the coil are linearly scanned by the plural laser beams. The transverse traveling body is traversed on the way, so that the scanning in the right angle direction is also performed. Therefore, the data necessary for measuring the position of the coil can be collected without swinging the laser rangefinder,
Moreover, the traverse distance of the traverse body can be reduced to a distance corresponding to the distance between the laser beams.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. 1 is a front view showing the structure of an example of a coil position measuring device embodying the present invention, FIG. 2 is a side view of the same coil position measuring device, FIG. 3 is a plan view of the same coil position measuring device, and FIG. It is a top view for explaining a coil position measuring point using a coil position measuring device.

The coil 10 is placed on a carriage 11 or a pallet and carried into a coil yard. This loading is performed in the X direction of the coil yard.

The coil position measuring device is provided with a transverse traveling body 20 which can freely travel in the X direction on the coil 10 carried in the coil yard and can traverse in the Y direction to some extent. The lateral traveling body 20 is a so-called club, and is provided above the club so as not to interfere with a club of an overhead crane. A laser range finder 30 faces downward on the lateral traveling body 20.
Is attached.

The laser rangefinder 30 is a two-dimensional type, for example, 11 light projecting portions P that project laser light directly below (Z direction).
1 to P11. The light projecting portions P1 to P11 are the lateral traveling bodies 20.
In the central portion in the X direction and are arranged at a predetermined pitch in the Y direction. The distance from the light emitting portion P1 to the light emitting portion P11 is greater than both the axial length and the outer diameter of the coil 10,
It is almost the same width as the dolly 11.

The laser range finder 30 has two light receiving parts, which are in a diagonal relationship with the light projecting parts P1 to P11 interposed therebetween. That is, one light receiving portion M1 is the light emitting portion P1 at one end of the lateral traveling body 20.
Is on the corner of the side, and the other light receiving part M2 is on the side of the lateral traveling body 2.
The other end of 0 is at the corner on the side of the light projecting portion P11.

The light receiving portion M1 on the side of the light emitting portion P1 is
For example, the reflected light of the laser light projected from the light projecting parts P1 to P6 is received to measure the distance to each reflection point, and the light receiving part M2 on the side of the light projecting part P11 is, for example, the light projecting part. The reflected light of the laser light projected from P6 to the projection unit P11 is received and the distance to each reflection point is measured.

The output of the laser rangefinder 30 is input to a controller (not shown). The controller stores, for example, the distance of 11 points measured by the laser range finder 30 in association with the moving position of the lateral traveling body 20, and performs various calculations for specifying the position of the coil 10. This will be described with reference to FIG.

The distance between the light projecting portions of the laser rangefinder 30 is 250 mm. The lateral traveling body 20 can freely travel in the X direction, and the amount of movement in the Y direction is, for example, 500 times twice the above interval.
It is about mm. The coil 10 is carried into the coil yard so that it does not protrude from the laser light on both ends (FIG. 1). The spot of the laser beam that hits the coil 10 is Sm-1 to S6 to S
Let n. S6 is the central spot.

First, the measuring procedure will be described for the case where the carried-in coil 10 is placed as shown in FIG. 4 (A).

When the coil 10 is loaded, the lateral traveling body 20
Starts traveling in the X direction from the position of X = 0, and the distance change points a and a'when S6 and Sn are applied to the side edges of the coil 10.
To detect. If X values of a and a'are Xa and Xa ',
The inclination angle θ of the coil 10 can be calculated by Equation 1.

[0018]

## EQU1 ## θ = tan ^-1 (Xa-Xa ') / 250 (6-n)

Measuring distance (Z by Sm-1 to S6 to Sn)
Value) and from the change, Sm-
It is detected that 1 to S6 to Sn have arrived. When Sm-1 to S6 to Sn arrive at the central portion of the coil 10, the traveling of the lateral traveling body 20 is stopped, and this is reciprocated 250 mm in the Y direction. The Y value due to Sm and Sn changes on the way. If the Y values at the changing points are Ym and Yn, the length L of the coil 10 in the central axis direction can be obtained by the mathematical formula 2.

[0020]

## EQU00002 ## L = {250 (m-n) + (Ym-Yn)} cos .theta.

After the traverse (reciprocation) of the traverse 20 is completed, the traverse 20 starts traveling again. Distance change points b and b'when Sm-1 and S6 separate from the side edge of the coil 10 are detected. If the X values of b and b ′ are Xb and Xb ′, the outer diameter D of the coil 10 can be obtained by the mathematical formula 3.

[0022]

## EQU3 ## D = (Xb-Xb ') cos θ

Letting Zmax be the maximum Z value during the passage of Sm-1 to S6 to Sn on the coil 10, the n-side center coordinate of the coil 10 can be obtained by Equation 4, and the m-side center coordinate can be obtained. Determined by 5.

[0024]

## EQU4 ## X = Xa '+ 1 / 2D Y = 250 (6-n) + Yn Z = Zmax-1 / 2D

[0025]

## EQU5 ## X = Xb '+ 1 / 2D Y = 250 (6-m) + Ym Z = Zmax-1 / 2D

The way of placing the loaded coil 10 is shown in FIG.
In the case of (B) as well, the inclination angle θ of the coil 10 is similarly obtained by Expression 1. Further, the outer diameter D of the coil 10 is obtained by the equation 6, and the length L in the central axis direction is obtained by the equation 7.

[0027]

## EQU6 ## D = {250 (m−n) + (Ym−Yn)} cos θ

[0028]

(7) L = (Xb−Xb ′) cos θ

Further, the n-side center coordinate of the coil 10 is obtained by the formula 8, and the m-side center coordinate is obtained by the formula 9.

[0030]

## EQU8 ## X = Xa Y = 1 / 2.multidot. {250 (6-n) + Yn + 250 (6-
m) + Ym + (X−Xa)} tan θ Z = Zmax −1 / 2D

[0031]

## EQU9 ## X = Xb Y = 1 / 2.multidot. {250 (6-n) + Yn + 250 (6-
m) + Ym− (Xb−X)} tan θ Z = Zmax −1 / 2D

The method of placing the loaded coil 10 is shown in FIG.
In the case of (C), first, the transverse traveling body 20 is caused to travel in the X direction to position Sm-1 to S6 to Sn near the center of the coil 10 and then to reciprocate in the Y direction to produce Ym and Yn. To measure. Then, the lateral traveling body 20 is moved in the Y direction by the distance shown in Formula 10.

[0033]

## EQU10 ## {250 (6-n) + Yn + 250 (m-1
-6) + (250-Ym)}

By this movement, S6 is positioned on the X-ray passing through the center of the coil 10. Then, the lateral traveling body 20 is once run in the reverse direction and then in the forward direction, and the X value (Xa) at the point a and the X value (Xb) at the point b in S6 are measured. The outer diameter D of the coil 10 is obtained by Equation 11, and the center coordinates are obtained by Equation 12.

[0035]

## EQU11 ## D = Xb-Xa

[0036]

## EQU12 ## X = 1/2. (Xa + Xb) Y = {250 (6-n) + Yn + 250 (m-1-6)
+ (250-Ym)} Z = Zmax

Regarding the length L of the coil 10 in the direction of the central axis, when the coils 10 are stacked in one stage (Zmax-trolley 1
Floor height of 1). When stacking in two stages, the height of the upper surface of the lower coil 10 can be measured if there is a gap between the upper coil 10 and the lower coil 10. Therefore, the length L of the coil 10 is (
Upper surface height) − (upper surface height of the lower coil 10).

As described above, the present coil position detecting device does not swing the laser range finder 30 and causes a slight amount of traverse (250 mm, which corresponds to the pitch of the light projecting portions P1 to P11 in the above embodiment). Thus, the position of the coil 10 can be accurately measured. Therefore, there is little vibration, and the time required for measurement can be shortened. Furthermore, the Y direction can be scanned with high accuracy without increasing the number of light projecting units.

[0039]

As described above, in the case of the coil position measuring device according to the present invention, the scanning required for the coil position measurement is performed with a relatively small amount of laser light, and the scanning is performed linearly to perform swinging. Absent. Therefore, the device becomes simple. Further, by not swinging the head, vibration is reduced and the life of the laser range finder is extended. Furthermore, the scanning distance is short, and the time required for measurement is shortened.

[Brief description of drawings]

FIG. 1 is a front view showing the structure of an example of a coil position measuring device embodying the present invention.

FIG. 2 is a side view of the coil position measuring device.

FIG. 3 is a plan view of the coil position measuring device.

FIG. 4 is a plan view for explaining a coil position measuring procedure using the coil position measuring device.

FIG. 5 is a schematic diagram showing an outline of coil position measurement using a laser.

[Explanation of symbols]

 10 coil 20 lateral traveling object 30 laser range finder P1 to P11 light projecting section S1 to S11 laser spot M1 and M2 light receiving section

Claims (2)

[Claims] 1. A coil position measuring device for measuring the position of a coil placed in a coil yard by using a laser, wherein a plurality of light projecting portions arranged in parallel emit laser light directly below, respectively. A laser range finder that receives the reflected light of the light by the light receiving section and measures the distance to each reflection point, and holds the laser range finder, and arranges a distance equal to or more than the parallel distance in the parallel direction of the projecting sections of the laser range finder. Enter the distance to each reflection point measured by the laser range finder in correspondence with the traverse body that traverses and travels in the direction perpendicular to the parallel direction of the light projecting parts, and the moving position of the traverse body. And a calculator for performing a calculation necessary for measuring the coil position. 2. The coil position measurement according to claim 1, wherein the laser rangefinder is a two-dimensional rangefinder that collectively receives reflected light from a plurality of reflection points and measures a distance to each reflection point. apparatus.