JPH06281439A - Method for measuring diameter of cylindrical body - Google Patents

Abstract

PURPOSE:To execute the automatic lifting in a safe and sure manner by measuring the diameter of a cylindrical body from the height of the cylindrical body and the skid shape to fix the cylindrical body. CONSTITUTION:The relative movement of a range finder 40 is made so as to cross a plurality of cylindrical bodies 10, 11 which are positioned by a skid 12, the change of the height of the range finder 40 during this period is continuously measured, and the diameters of the respective cylindrical bodies 10, 11 are computed based on the height of the cylindrical bodies 10, 11 and the shape and dimensions of the skid 12.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for measuring the diameter of a cylindrical object placed at a distant position using laser light or ultrasonic waves.

[0002]

2. Description of the Related Art As an example of a conventional method for measuring the diameter and position of a cylindrical object, a method for measuring the position and diameter of a steel strip coil (hereinafter referred to as coil) produced in a steelmaking plant will be described.

When a coil carried into a coil yard is automatically hoisted by an overhead crane, it is necessary to accurately guide the overhead crane onto the coil. for that reason,
As an apparatus for measuring the diameter and the position of the coil, there is an invention described in, for example, Japanese Patent Laid-Open No. 3-162395. The coil position detection device described in the above publication converts a laser light source and spot light of the laser light source into one-dimensional slit light.
The scanning mirror of the table and the two TV cameras for photographing the slit light applied to the coil are installed in the overhead crane, and based on this, the coil position is converted into three-dimensional position coordinates and the coil position is calculated. It is configured.

[0004]

When the coil height is measured by the distance measuring device as described above to calculate the diameter of the coil, the coil height varies depending on the shape of the skid on which the coil is placed and positioned. , It is necessary to calculate the coil size in consideration of the influence of skid shape. However, no consideration has been given to the influence of the shape of the skid in the conventional distance measuring device.

The present invention was devised in view of the above circumstances, and the safety is obtained by measuring the diameter of a cylindrical object from the height of the cylindrical object and the shape of the skid which positions the cylindrical object and places it on a trolley or the like. Moreover, it is an object of the present invention to provide a method for measuring the diameter of a cylindrical object that enables reliable automatic lifting.

[0006]

A method for measuring the diameter of a cylindrical object according to the present invention emits light or ultrasonic waves toward an object to be measured and receives reflected light or ultrasonic waves reflected from the object to be measured. A method for measuring the diameter of a cylindrical object using a range finder for measuring the distance to a reflection point, wherein the range finder is arranged so as to traverse one or more cylindrical objects positioned by a skid. Relative movement, continuously measuring the height change of the cylindrical object from the output change of the distance meter during this, the diameter of each cylindrical object based on the height value of each cylindrical object and the shape of the skid The feature is that it is calculated. Further, the range finder includes a range finder whose center axis is configured to move in a horizontal direction substantially in parallel with a columnar object horizontally mounted on the skid. Furthermore,
The height Z of the cylindrical object measured by the distance meter is compared with the reference height Z0 calculated by the shape of the skid. If Z0 ≧ Z, D = W ² / [4 × (Z−H )]
+ Z−H, when Z0 ≦ Z, D = [2 (Z−H) cos θ
+ W sin θ] / (cos θ + 1) is included.

[0007]

Embodiments of the method of the present invention will be described below with reference to the drawings. 1 is a front view of a measurement system used in the present invention, FIG. 2 is a side view of FIG. 1, FIGS. 3, 4, and 5 are sectional views of the measurement system, and FIG. 3 shows a case where a coil diameter is small. 4, FIG. 4 is an explanatory diagram showing a boundary where the coil diameter calculation conditions in FIGS. 3 and 4 are changed when the coil diameter is large, FIG. 6 is a flowchart for explaining the operation of the present invention, and FIGS. 7 is a cross-sectional view showing a different skid embodiment, FIG. 7 shows a case where the coil diameter is larger than that in FIG. 4, FIG. 8 shows a case where the shape of the skid shown in FIG. 3 is different, and FIG. 9 shows a skid shown in FIG. 10 has a different shape, FIG. 10 shows a case where the shape of the skid shown in FIG. 3 is different, FIG. 11 shows a case where an elastic body is placed on the skid in FIG. 3, and FIG. In each case, an elastic body is used.

In the following description, a coil produced in a steel factory as a columnar object will be described as an example.

As shown in FIG. 1, the large-diameter coil 10 and the small-diameter coil 11 are placed on a carriage 20 and carried into a coil yard 21, and are automatically lifted from the carriage 20 by an overhead crane 30. When the traveling direction of the overhead crane 30 is X, the traverse method is Y, and the coil lifting direction is Z, the carriage 20 is loaded in the Y direction. The coils 10 and 11 on the dolly 20 are placed on the central axis of the dolly 20 in the Y direction with the central axes thereof oriented in the substantially Y direction.
One or a plurality of them are juxtaposed, and each of them is positioned and fixed by a skid 12. The skid 12 is formed into a trapezoid having a vertical cross section and a horizontal bottom surface, and a top surface having a slope inclined forward and downward toward the inside, and has a predetermined length. It is designed to be placed and fixed. The coils 10 and 11 are not necessarily uniform in diameter as shown in the drawing, and may have different widths in the Y direction or different distances between adjacent coils.

The overhead crane 30 is a girder traveling in the X direction.
It includes a club 32 that traverses in Y traveling, a suspender 33 that moves up and down in the Z direction, and a distance meter 40.

The rangefinder 40 is, for example, a laser rangefinder,
It is attached to the club 32 with the bottom facing downward. The laser rangefinder 40 emits a laser beam 41 toward the coils 10 and 11, a light receiving unit that receives the reflected laser beam reflected by the coils 10 and 11, and a light receiving unit that reflects the received light. And a calculation unit that calculates the distance to the point.

In order to measure the diameters and sizes of the coils 10 and 11 on the carriage 20, first, the carriage 20 is carried into the measurement area of the laser rangefinder 40, and then the laser light 41 completely passes through the carriage 20. As described above, the club 32, that is, the laser range finder 40 is moved in the Y direction parallel to the axis of the coil. Instead of moving the club 32, the dolly 20 may be moved in the Y direction.

While the laser beam 41 scans the coils 10 and 11 in the Y direction, the laser range finder 40 continuously measures the distance. As a result, the measurement data of the coil height Z is obtained as shown in FIG. 3 or 4.

In FIG. 3, the coil 11 has a small diameter,
The coil 11 is in contact with the skid 12 at the inner edge 13,
In FIG. 4, the coil 10 has a large diameter, and the coil 10 is in contact with the skid 12 on the upper surface 14. FIG. 5 shows boundaries where the coil diameter calculation conditions in FIGS. 3 and 4 are changed.

3, 4, and 5, the distance between the inner edges of the skid 12 is W, the height of the inner edge of the skid 12 is H, the inclination angle of the upper surface of the skid 12 is θ, and the coil diameter is D. And In FIG. 5, the intersection point between the vertical line passing through the coil center O and the coil upper surface is P, the intersection point between the extension line of the line segment PO and the trolley upper surface is R, and the position corresponding to the height H on the line segment OR is shown. If Q and the position of the inner edge 13 are S, then in ΔOQS, OS = D / 2 = SQ / sin θ = (W / 2) / sin θ ∴D = W / sin θ (1 ) Here, when the reference height of the coil which is the boundary where the coil diameter calculation condition is changed is ZO, ZO = OP + OQ + QR = D / 2 + (D / 2) cos θ + H = H + D / 2 (cos θ + 1) (2) ) Substituting the expression (1) into the above expression, ZO = HW (cos θ + 1) / 2sin θ (3)

A formula for calculating the coil diameter D when the height Z of the coil 11 is ZO ≧ Z will be described with reference to FIG.

When OQ = x in FIG. 3, OQ = PR-QR-OP x = Z-H- (D / 2) (4) ΔOQS OQ ² + QS ² = OS ² , ^{i.e., x 2 + (W / 2} ) 2 = (D / 2) 2 (W / 2) 2 = (D / 2) 2 -x 2 = (D / 2 + x) (D / 2-X)

[0018] Substituting the above equation ^{(4), (W / 2) 2 =} (Z-H) (D-Z + H) ∴D-Z + H = (W 2/4) [1 / (Z-H) ] ∴D = W ² / {4 (Z−H)} + Z−H (A) Therefore, when ZO ≧ Z, it is necessary to calculate the coil diameter D by the formula (A).

Next, the formula for calculating the coil diameter D when the coil height Z is ZO≤Z will be described with reference to FIG.

In the figure, the upper surface 14 of the skid 12 and the coil 10
Is the contact point of T, and the position corresponding to the height H of the line segment QR is U,
The upper end position of the inner edge 13 is V, and the vertical line segment passing through the point T and U
Assuming that the fulcrum with the extension of the V line segment is W, TW = UQ = PR− (OP + OQ) −UR = Z− (D / 2) (cos θ + 1) −H (5) On the other hand, VW = TQ− UV = (D / 2) sin θ− (W / 2) = (1/2) (D sin θ−W) (6) From the formula, ∴tan θ = [Z− (D / 2) (cos θ + 1) −H] / {(1/2) (D sin θ−W)} = sin θ / cos θ (Z−H) cos θ− (D / 2) (cos ² θ + cos θ) = (1/2) ( Dsin ² θ−Wsin θ) (7) sin ² θ + cos ² θ = 1 Therefore, rearranging the equation, − (D / 2) (cos θ + 1) = − (W / 2) sin θ− (Z− H) cos θ ∴D = [2 (Z−H) cos θ + W sin θ] / (cos θ + 1) (B)

Therefore, when ZO ≦ Z, it is necessary to calculate the coil diameter D by the equation (B). Formula (A), (B)
As shown in the equation, the diameter D of the coil varies depending on the height Z of the coil, the height H at the inner edge of the skid 12, the distance W between the inner edges, and the trapezoidal shape determined by the inclination angle θ of the upper surface. I understand.

Next, the operation of the present invention will be described with reference to FIG.

The laser rangefinder 40 is moved to move the laser beam 41.
The carriage surface is scanned with, and at the same time, the distance data of the coils 10 and 11 are collected and stored in the memory (S1).

Simultaneously with the end of the scanning, the collection of the coil distance data is also completed (S2), and the coil position calculation is started based on the distance data stored in the memory (S3).

The measured value Z of the coil height is compared with the reference height ZO (S4), and the coil is calculated based on the equation (A) or the equation (B) according to the magnitude relationship between Z and ZO. The diameter D is calculated (S5).

Next, necessary coil position data such as coil width, distance interval, and center coordinates are calculated (S6). These can be easily calculated from continuous coil height change data.

It is judged whether or not the above calculation has been completed for all the coils (S7), and if not calculated, the same calculation is performed for the next coil (S8), and if YES, the process is stopped.

The coil 15 shown in FIG. 7 has a larger diameter than that of FIG. 5, and the contact position between the coil 15 and the skid 12 is the outer edge 16. The diameter D of the large-diameter coil 16 can be calculated in the same way as described above.

That is, assuming that the width of the outer edge of the skid 12 is W ', the height of the outer edge of the skid 12 is H', and the other parts have the same sign, OQ = PR-OP-QR = Z-H '. Since OQ ² + QT ² = OT ^{2 in} − (D / 2) ΔOQT, [Z−H ′ − (D / 2)] ² + (W ′ / 2) ² = (D / 2) ² ( W '/ 2) ² = (D / 2) ^2- [Z-H'-(D / 2)] ² = (Z-H ') (D-Z + H') ∴D = [W ' ² / [4 (Z-H ')] + Z-H' ... (C).

While W and H in the above equation (B) are the width and height inside the skid, respectively, W'in the above equation (C),
The difference is that H'is the outside width and height of the skid.

In the embodiment shown in FIGS. 8, 9 and 10, the shape of the skid 12 is different from that of FIG. The skid 121 shown in FIG. 8 is expressed by the formula (A) as in the case shown in FIG. 3, and the skid 122 shown in FIG. 9 is calculated by the formula (A) or the formula (C) as in the case shown in FIG. 3 or 7. Also in the case of FIG. 10, it is possible to calculate geometrically in the same manner as described above.

In the embodiment shown in FIG. 11, the skid is
The case where an elastic body 50 formed of a flexible member is placed on the upper part of 12 is shown. In this case, if the thickness and elastic modulus of the elastic body 50 and the weight of the coil are known, the amount of deformation can be obtained by calculation, and the coil diameter D can be calculated from the value of the coil height Z.

In the embodiment shown in FIG. 12, the skid is
The case where a spring 51 that elastically deforms is used as 12 is shown. Also in this case, if the elastic modulus and the weight of the coil are known, the deformation amount of the coil can be obtained in the same manner as described above, and the coil diameter D can be calculated from the value of the height Z of the coil.

When the weight of the coil is unknown in the above description, the approximate coil diameter may be calculated from the value of the height Z of the coil, and the approximate coil weight may be calculated from the specific gravity of the coil. According to the above method, the coil diameter D can be calculated almost accurately.

[0035]

As described above, in the method for measuring the diameter of a cylindrical object according to the present invention, the distance meter is moved only relative to the cylindrical object mounted on the skid, and It is possible to accurately calculate the diameter of each cylindrical object based on the height value and the shape of the skid. Therefore, the columnar object can be safely and reliably automatically lifted up by the overhead crane or the like, which has the advantage of improving the operating rate of the overhead crane.

[Brief description of drawings]

FIG. 1 is a drawing related to the present invention, and is a front view of a measurement system used in the present invention.

FIG. 2 is a side view of the measurement system.

FIG. 3 is a cross-sectional view of the measurement system, showing a case where the coil diameter is small.

FIG. 4 is a cross-sectional view of the same measurement system, showing a case where the coil diameter is large.

FIG. 5 is a cross-sectional view of the same measurement system and is an explanatory diagram showing a boundary where the conditions for calculating the coil diameter in FIGS. 3 and 4 change.

FIG. 6 is a flowchart explaining the operation of the present invention.

FIG. 7 is a cross-sectional view showing another embodiment of the skid, showing a case where the coil diameter is larger than that in FIG.

8 is a sectional view similar to FIG. 7, showing a case where the shape of the skid shown in FIG. 3 is different.

9 is a cross-sectional view similar to FIG. 7, showing a case where the skid shown in FIG. 7 has a different shape.

10 is a cross-sectional view similar to FIG. 7, showing a case where the skid shown in FIG. 3 has a different shape.

11 is a cross-sectional view similar to FIG. 7, showing a case where an elastic body is placed on the skid in FIG.

FIG. 12 is a cross-sectional view similar to FIG. 7, showing a case where an elastic body is used instead of the skid in FIG.

[Explanation of symbols]

 10 Large-diameter coil 11 Small-diameter coil 12 Skid 20 Truck 30 Overhead crane 31 Girder 32 Club 33 Lifting equipment 40 Laser rangefinder

Claims (3)

[Claims] 1. A column using a rangefinder that emits light or ultrasonic waves toward an object to be measured, receives reflected light or ultrasonic waves reflected from the object to be measured, and measures the distance to a reflection point. A method for measuring the diameter of an object, wherein the range finder is relatively moved so as to cross one or a plurality of columnar objects positioned by a skid, and a change in the output of the range finder during this period causes Measuring the change in height continuously, and measuring the diameter of each cylindrical object based on the height value of each cylindrical object and the shape of the skid. Method. 2. The columnar object according to claim 1, wherein the rangefinder is configured such that a central axis thereof moves in a horizontal direction substantially parallel to a columnar object horizontally mounted on the skid. Diameter measurement method. 3. The height Z of the cylindrical object measured by the distance meter is compared with a reference height ZO calculated by the shape of the skid, and when ZO ≧ Z, D = W ² / [4 × ( Z−H)] + Z−H ・ ・ ・ (A) When ZO ≦ Z D = [2 (Z−H) cosθ + W sinθ] / (cosθ + 1) ・ ・ ・ (B) The method for measuring the diameter of a cylindrical object according to claim 1, wherein the diameter is calculated by any one of the above.