JPH0986870A - Method and device for detecting position and shape of columnar substance - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect the position and shape of a columnar substance by simple method, using a range finder. SOLUTION: The data on distribution of distances to a columnar substance are made by scanning the columnar substance placed, with its axis roughly in conformity, on the longitudinal center axis of a truck 13 by a skid 15, along the axis of the truck 13 with a light beam, and receiving the reflected light reflected from this, and the center coordinates of the diameter, the width, the shape, and the height of the columnar substance are operated from the value of the height of the columnar substance obtained from this data and the shape of the skid 15.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cylindrical object position / shape detecting method and apparatus for detecting the position and shape of a cylindrical object placed at a distance by using light or ultrasonic waves, and in particular, to an apparatus therefor. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and apparatus for detecting the position and shape of a cylindrical object used for automatic operation of a crane that conveys the cylindrical object.

[0002]

2. Description of the Related Art As one of conventional position detecting devices for cylindrical objects, a steelmaking coil (hereinafter referred to as a coil) produced by winding a steel sheet into a roll at a steelmaking factory is automatically conveyed by an overhead crane. A coil position detecting device that can be used will be described.

[0003] In the case of automatically lifting a coil placed on a trolley and carried into a coil yard by an overhead crane,
In order to accurately guide the overhead crane onto the coil, it is necessary to accurately detect the position and size of the coil. As a conventional detection device therefor, for example, Japanese Patent Laid-Open No. 6-26
There is an invention described in Japanese Patent No. 3382.

In the above invention, the position of the coil is detected by detecting the position in the longitudinal direction, which is the longitudinal direction, of the pallet on which the coil is placed, and the position in the lateral direction, which is orthogonal to the longitudinal direction, by the laser rangefinder. Is configured.

[0005]

However, in the coil position measurement in the conventional apparatus, the vertical position of the bogie,
In addition, since the coil position needs to be measured by detecting only the lateral position, the coil has to be placed at a predetermined position on the truck. Therefore, when the coil position on the carriage changes, the coil position cannot be measured. Further, since the shape of the coil is not directly measured, there is a problem that the shape of the coil cannot be measured even if the shape of the coil changes or the coil has a winding deviation or a winding core.

Therefore, according to the first aspect of the present invention, the position and shape of a cylindrical object can be accurately detected with a simple structure even if the size of the carriage or the coil position changes. It is intended to provide a way.

In addition to the object of the invention described in claim 1, the invention described in claim 2 can accurately detect the coil position and shape by a simple device, and the operating rate of the crane that automatically conveys the coil. It is an object of the present invention to provide a position and shape detection device for a cylindrical object, which is improved.

According to a third aspect of the invention, in addition to the object of the second aspect of the invention, the position and shape of the coil can be accurately determined even when the truck is a trailer or the like and is not stopped at a predetermined position. It is an object of the present invention to provide a position / shape detecting device for a cylindrical object, which is also capable of detecting.

[0009]

In order to achieve the above-mentioned object, in the invention according to claim 1 of the present invention, the center axis of the carriage is made substantially coincident with the center axis of the carriage by the skid. One or a plurality of cylindrical objects that are positioned and positioned are scanned with one light or ultrasonic wave along the central axis of the carriage in the longitudinal direction, and the reflected light or reflected wave reflected from the cylindrical objects is received or The distance distribution data to the cylindrical object is created by receiving, and the diameter of the cylindrical object is calculated from the height value of the cylindrical object and the shape of the trolley and the skid obtained from this distance distribution data by the number 1 or the number. 2 to calculate the center coordinates of the width, shape and height direction of the columnar object from the positions of both end faces of the columnar object obtained from the distance distribution data, and the other columnar columns are similarly calculated. Specialized in computing about objects It is set to.

The invention according to claim 2 scans a cylindrical object mounted on a trolley with one light or ultrasonic wave, and detects a reflected light or a reflected wave reflected from the cylindrical object to form a cylindrical shape. A cylindrical object position / shape detecting device for calculating the position shape of an object, wherein a trolley in which one or a plurality of cylindrical objects are positioned and mounted by skids so as to substantially coincide with the longitudinal center axis thereof, One laser range finder or ultrasonic range having a launching unit that emits light or ultrasonic waves and a sensing unit that receives or receives reflected light or reflected waves and is arranged in a direction substantially orthogonal to the central axis of the carriage in the longitudinal direction. Distance measurement data is created by scanning the distance meter and laser rangefinder or ultrasonic rangefinder along the longitudinal center axis of the carriage, and based on this distance distribution data, the diameter, width, shape, height In the direction It is characterized by comprising a calculating unit for calculating the coordinates.

According to a third aspect of the present invention, in addition to the configuration of the second aspect of the invention, a light or super-light is provided which is provided on a side wall of the yard where the truck moves in and out, and which measures the distance between the side surface in the longitudinal direction of the truck and the side wall. It is characterized by adding a sonic rangefinder.

[0012]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of a position shape detecting device for a cylindrical object (hereinafter referred to as the device of the present invention) using the method of the present invention will be described below with reference to the drawings together with the position shape detecting method. FIG. 1 is a drawing relating to the inventions of claims 1 and 2, and is a front view for explaining the configuration of a position shape detecting device for a cylindrical object to which the method of the present invention is applied, and FIG. 2 is a side view of the same. FIG. 3 is a front view showing an example of a result of distance distribution measurement of an object by a distance meter.

4 to 6 are drawings for explaining the formula of the diameter of the cylindrical object, FIG. 4 shows the case where the diameter of the cylindrical object is small, and FIG. 5 shows the case where the diameter is large.
FIG. 6 is an explanatory diagram showing boundaries where the conditions for calculating the diameter in FIGS. 4 and 5 change. In the following description, the object to be detected is a coil as described above.

An apparatus for detecting the position and shape of an object used in the method of the present invention (hereinafter referred to as the apparatus of the present invention) comprises a carriage 13, a range finder 30 mounted on an overhead crane 20, and a calculation unit 40.

As shown in FIGS. 1 and 2, a large-diameter coil 1
0, small-diameter coil 11 and medium-diameter coil 12 are placed on a trolley 13 and carried into a coil yard.
Is automatically lifted from above the carriage 13. Here, 16 is a winding deviation generated on the right side surface of the coil 10,
Reference numerals 7 and 18 denote winding cores of the coil 11, and reference numeral 19 denotes a winding deviation generated on the left side surface of the coil 12. Here, the truck 13 may be carried into the coil yard by a trailer or the like,
Here, the case where the carriage 13 is fixed to the ground 14 is dealt with. Further, in this case, the central axis directions of the coils 10, 11 and 12 and the central axis of the carriage 13 on which the coils are mounted are substantially coincident with each other.

It is assumed that the traveling direction of the overhead crane 20 is X, the transverse direction orthogonal to the traveling direction is Y, and the height direction is Z. Here, a case where the longitudinal direction of the carriage 13 is the Y direction will be described as an example. The coils 10, 11, 12 on the carriage 13 are juxtaposed on the carriage 13 with their central axes oriented in the substantially Y direction, and each of them is positioned and fixed by a skid 15 on the carriage 13. The overhead crane 20 includes a girder 21 traveling in the X direction, a club 22 traversing in the Y direction, and a coil suspender 23 moving up and down in the Z direction.

The range finder 30 is, for example, one laser range finder and is integrally attached to the club 22.
It has a emitting portion 32 for emitting one laser beam 31 downward, and a light receiving portion 34 as a detecting portion for receiving reflected light 33 reflected by the emitted laser light 31 upon hitting the coils 10, 11, 12 and the like. . Here, the arrangement of the emitting section 32 and the light receiving section 34 is arranged in a direction substantially perpendicular to the longitudinal direction of the carriage 13 or in the X direction.

Then, the girder 21 is moved and moved so that the laser beam 31 irradiates the center of the carriage 13 fixed to the ground 14 in the width direction, and the club 22 is made to traverse on the girder 21, so that the distance can be increased. It is configured to scan a total of 30.

The arithmetic unit 40 has a built-in microcomputer and is electrically connected to the light receiving unit 34, and each coil 10, 11, 12 is operated according to the principle of the triangulation method depending on the angle at which the laser light 31 and the reflected light 33 intersect. It has a function to calculate and store the distance to.

The distance distribution data to the detection target coil obtained by the scanning of the distance meter 30 is temporarily stored in the memory of the microcomputer. Then, the arithmetic unit 40 uses the data in the memory after the scanning is completed, based on the data required for transportation by the crane 20, that is, the number of coils, the size of each coil, the width of each coil, the winding deviation, the accurate center coordinates of each coil, etc. Is calculated. The calculation result is reported to the host computer (not shown) or the controller of the overhead crane 20 via the calculation unit 40.

FIG. 3 shows the measurement result of the distance distribution stored in the microcomputer in the arithmetic unit 40 on the YZ plane when the rangefinder 30 is scanned in the Y direction. In this case, the scanning is performed continuously, but the distance distribution data is discretely sampled, so that the data indicated by the circles in the figure is stored in the microcomputer.

The vertical axis of the figure shows the height distribution of the coil from the origin when the origin 0 is on the ground 14. That is, the height 100 is the portion of the coil 10, the height 110 is the portion of the coil 11, the height 120 is the portion of the coil 12, the height 130 is the portion of the carriage 13, the height 140 is the portion of the ground 14, and the height 150. Is a part of the skid 15.

The distance from the distance meter 30 to the ground 14 is constant, and the height of the portion 140 becomes zero by coordinate conversion. The height 160 is the winding misalignment 16, the heights 170 and 180 are the winding cores 17 and 18, and the height 190 is the winding misalignment 19. The positions of the coils 10, 11 and 12 in the Y direction in FIG.
It is measured by an encoder (not shown) attached to No. 2.

Next, the calculation method of the number of each coil, the size of each coil, the width of each coil, the center coordinates of each coil, etc. will be described. In FIG. 3, the data of the portion other than the coil surface is deleted by extracting the portion where the height value Z exceeds a predetermined constant value Z1. In the case of this embodiment, Z1 is set to a value slightly larger than the total height of the carriage 13 and the skid 15. If only the data of the portion exceeding the height value Z1 is extracted, one set of 160 and 100,
It is understood that the number of coils is three because 170, 110 and 180 are a set of data and 120 and 190 are a set of data.

Since the positions of the emitting part 32 and the light receiving part 34 of the laser range finder 30 are arranged in the direction orthogonal to the longitudinal direction of the carriage 13, the winding deviation 16 is obtained from the data 160 and 100 of the first set. The existence of the coil, the data 170 and 180, and the values such as the pop-out amount of the winding cores 17 and 18 can be calculated by simple arithmetic operations regardless of which side the coil is.

Further, the outer diameter of the coil 10 can be known from the maximum height 100 of the coil 10 and the heights of the carriage 13 and the skid 15. A method of calculating the outer diameter of the coil will be described below with reference to FIGS.

In FIG. 4, the coil 11 has a small diameter,
The coil 11 is in contact with the skid 15 at the inner edge 15a. In FIG. 5, the coil 10 has a large diameter, and the coil 10 is in contact with the skid 15 at the upper surface 15b. FIG. 6 shows boundaries where the coil diameter calculation conditions in FIGS. 3 and 4 change.

In FIG. 6, the inner edge 15 of the skid 15 is shown.
The distance interval of a is W, the height is H, and the upper surface 15 of the skid 15 is
The inclination angle of b is θ, and the coil diameter is D. In FIG.
The intersection point of the vertical line passing through the coil center O and the coil upper surface is P,
Let R be the intersection of the extension line of the line segment PO and the upper surface of the bogie, Q be the position corresponding to the height H on the line segment OR, and S be the position of the inner edge of the skid 15. Equation 3 is obtained.

[0029]

(Equation 3)

When the reference height of the coil, which is the boundary where the coil diameter calculation condition changes, is ZO, the equation (4) is obtained.

[0031]

[Equation 4]

By substituting the equation (3) into the equation (4), the equation (5) is obtained.

[0033]

(Equation 5)

The 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. 4, the equation of the equation 6 is obtained.

[0035]

(Equation 6)

The equation (7) is obtained from ΔOQS.

[0037]

(Equation 7)

By substituting the equation (6) into the equation (7), the equation (1) is obtained.

Therefore, when ZO ≧ Z, the coil diameter D can be calculated by the equation (1).

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 contact point between the upper surface 17 of the skid 15 and the coil 10 is T, the position corresponding to the height H of the line segment QR is U, the upper end position of the inner edge of the skid 15 is V, and the vertical line segment passing through the point T is shown. If the fulcrum between the UV line segment extension line and W is W, the line segment TW is expressed by Equation 8.

[0041]

(Equation 8)

On the other hand, the line segment VW is expressed by Equation 9.

[0043]

[Equation 9]

The equation (10) is obtained from the equation (8) and the equation (9).

[0045]

(Equation 10)

By rearranging the equation of the equation 10, the equation of the equation 2 is obtained.

Therefore, when ZO ≦ Z, the coil diameter D can be calculated by the equation (2).

When the diameter D of the coil 100 is calculated by the equation 1 or 2 as described above, the original description is returned to and the method for calculating the specifications of the coil is shown in FIG.
This will be described with reference to the Z-direction distance distribution data.

From the data of both end surfaces of the heights 160 and 100, the width W1 of the coil 10 including the winding deviation and the center coordinate in the Y direction can be calculated. From these results, the hanging device 23
Thus, the coil 10 in which the winding deviation has occurred can be lifted.

Next, the heights 170 and 11 of the second set of coils are set.
From the data of 0 and 180, the outer diameter of the coil 11 is determined from the fact that the winding cores 17 and 18 are present on both end faces of the coil 11 and the maximum height 110 and the height of the carriage 13 and the skid 15 according to the above. Recognize. Further, the width W2 of the coil 11 including the winding cores 17 and 18 and the center coordinate in the Y direction can be calculated from the data of both end surfaces of the heights 170 and 180. From these results, the coil 11 including this winding core can be lifted by the lifting tool 23.

Next, the heights 120 and 19 of the third set of coils are set.
Based on the data of 0, there is a winding deviation 19, and the maximum value of the height 120 and the heights of the carriage 13 and the skid 15 indicate the coil 12
The outer diameter of is known. Further, the width W3 of the coil 12 including the winding deviation and the center coordinate in the Y direction can be calculated from the data of both end surfaces of the heights 120 and 190. From these results, it is possible to lift the coil 12 in which the winding deviation has occurred by the hanging tool 23.

Next, the invention of claim 3 will be described. The same parts as those in the invention according to claim 2 have the same reference numerals. In the invention described in claim 2, when the carriage 13A on which the coil is placed is carried into the coil yard by a trailer (not shown) or the like, the stop position is not always constant.

Therefore, the coil placed on the carriage 13A may be displaced in the carrying-in direction, that is, the Y direction due to the stop position shift of the carriage. Similarly, the side wall 60 of the coil yard may be displaced from the preset position in the X direction.

In the above, since the coil position is detected by the distance distribution data, the coil displacement in the Y direction is
There is no problem, but laser distance meter 3
0 is the dolly 13 that is currently located from a preset position
It is necessary to move it to the central axis of the longitudinal direction of A, and therefore a means for measuring the amount of deviation in the X direction is required.

Therefore, in the invention device according to claim 3,
As shown in FIG. 7, one laser range finder 50 is installed on the side wall 60 of the coil yard, and the laser beam 51 is emitted toward the carriage 13A that is carried into the coil yard, so that the carriage 1
It is configured to measure the distance between the longitudinal side surface of 3A and the side wall 60.

Since the width of the carriage 13A is generally constant, by measuring the distance between the side surface of the carriage 13A and the laser distance meter 50 by the laser distance meter 50,
The longitudinal central axis position of the carriage 13A can be easily obtained. Therefore, the girder 21 is adjusted so that the laser beam 31 is applied to the widthwise center of the trailer 13A obtained as a result of the measurement.
If the club 22 is traversed on the girder 21 and the laser rangefinder 30 is scanned, the data necessary for lifting the coil can be obtained as in the second aspect of the invention.

In the above description, when the carriage 13A enters the coil yard obliquely to the side wall 60, two laser rangefinders 50 are used as necessary for the carriage 1.
The inclination angle of 3A with respect to the side wall may be calculated, and the direction of the carriage 13A may be adjusted so that this angle becomes zero.

Next, the operation of the device of the present invention will be described with reference to FIG. (1) The coil shape detection operation starts based on a command from a host computer or the like.

(2) The position of the carriage 13 is measured by the distance meter 50, and the arithmetic unit 40 calculates the distance to the central axis of the carriage 13 in the longitudinal direction (S1). If the carriage 13 is fixed to the ground 17, it is not necessary to measure its position.
Step (S1) can be omitted.

(3) The club 22 is traversed in the X direction and the girder 21 is moved so that the laser range finder 30 is located on the central axis of the carriage 13 in the longitudinal direction.
Is moved to the scanning start point (S2).

(4) Confirm the scanning start point (S3), and YE
When S is reached, the firing unit 32 of the laser rangefinder 30 is turned on (S
4) If NO, return to step S2.

(5) Scan the laser range finder 30. That is, the laser distance meter 30 collects the distance distribution data while the club 22 is traversing in the Y direction (S5), and the calculation unit 40
It is stored in the memory (S6).

(6) When the scanning is completed (S7), the firing unit 32 is turned off (S8).

(7) The calculation unit 40 calculates the number of coils, the width, the center coordinates, the outer diameter, etc. based on the obtained distance distribution data, and detects the position and shape of the coil (S9).

(8) It is confirmed whether or not all the coils have been calculated (S10), and if YES, the calculation result is reported to the host computer or crane controller (S11),
The above operation is stopped. In step 10, N
If it becomes O, the next coil is calculated (step 12).

In the above-mentioned embodiment, the central axis direction of the coil is substantially aligned with the longitudinal direction of the carriage, and the emitting portion and the light receiving portion of one laser rangefinder are arranged in the width direction of the truck. However, on the contrary, the axial direction of the coil is substantially aligned with the width direction of the carriage, and the position of each part of the laser rangefinder is substantially aligned with the longitudinal direction of the carriage. It may be one.

It goes without saying that, in the embodiment described above, other light or ultrasonic waves may be used instead of the laser light to have the same function. In this case, the light receiving unit 34 as the detecting unit operates as the receiving unit 34.
Although the distance meter 30 is integrally attached to the club 22 in the present embodiment, the present invention is not limited to this.
It may be attached under the girder 21 or in another place.

[0068]

As described above, according to the first and second aspects of the present invention, the coil is placed so that the central axes of the coils substantially coincide with the longitudinal central axis of the carriage,
Since the positions of the emitting part and the light receiving part of the laser range finder are arranged in a direction substantially perpendicular to the longitudinal direction of the carriage, the values such as coil end face misalignment and winding core protrusion amount, Whichever side it is, it can be measured by simple arithmetic operations. Therefore, it is most suitable as a coil position shape detecting method and its device in an automatic crane requiring high speed processing and reliability.

Further, since the dolly itself has not been modified, it is not necessary to carry out any maintenance, such as the coil position detecting reflection tape on the dolly, which has been conventionally required.

According to the invention described in claim 3, in addition to the effect of the invention described in claim 2, since the carriage is carried in by a trailer or the like, even if the position is different every time,
Since the position of the carriage can be directly measured, it is possible to accurately recognize the coil position and shape, and even when the coil position on the carriage changes, the coil position and shape can be accurately detected, which saves the time when transporting the coil. It has the effect of humanization.

[Brief description of drawings]

1 is a front view illustrating a configuration of an apparatus of the present invention to which a method of the present invention is applied, which is a drawing according to Claims 1 and 2. FIG.

FIG. 2 is a side view of the same.

FIG. 3 is a front view for explaining one of the results of distance distribution measurement by a distance meter.

4 to 6 are drawings for explaining a formula of a diameter of a cylindrical object, and FIG. 4 is an explanatory diagram showing a case where the diameter of the cylindrical object is small.

FIG. 5 is an explanatory view showing a case where the diameter is large in FIG.

FIG. 6 is an explanatory diagram showing boundaries where calculation conditions are different from those in FIGS. 4 and 5;

7 to 8 are drawings according to claim 3, and FIG. 7 is a front view for explaining the configuration of the device of the present invention.

FIG. 8 is a flowchart explaining the operation of the device of the present invention.

[Explanation of symbols]

 10, 11, 12 Coil 13 Cart 15 Skid 16, 19 Roll misalignment 17, 18 Winding core 20 Overhead crane 21 Girder 22 Club 23 Coil lifting device 30 Laser distance meter 40 Computing unit 50 Laser distance meter

[Equation 1]

[Equation 2]

Claims (3)

[Claims] 1. A light or an ultrasonic wave is applied to one or a plurality of columnar objects positioned by a skid on the central axis of the bogie in the longitudinal direction so that the central axes of the bogie are substantially aligned with each other. By scanning along the central axis of the longitudinal direction and receiving or receiving the reflected light or reflected wave reflected from the columnar object, the distance distribution data to the columnar object is created, and the columnar shape obtained from this distance distribution data From the value of the height of the object and the shape of the trolley and skid, the diameter of the cylindrical object is calculated as
Alternatively, the calculation is performed using Equation 2, the center coordinates of the width, shape and height direction of the cylindrical object are calculated from the positions of both end surfaces of the cylindrical object obtained from the distance distribution data. A method for detecting the position and shape of a cylindrical object, which comprises calculating for a cylindrical object. 2. A position shape of a cylindrical object is calculated by scanning a cylindrical object mounted on a trolley with one light or ultrasonic wave and detecting reflected light or a reflected wave reflected from the cylindrical object. A position detecting device for a cylindrical object, comprising: a trolley in which one or more of the cylindrical objects are positioned and mounted by skids so as to be substantially aligned with the longitudinal center axis thereof, and the longitudinal center axis of the trolley. One laser range finder or ultrasonic range finder, which is arranged in a direction substantially orthogonal to the above, and has a launching part for emitting light or ultrasonic waves and a sensing part for receiving or receiving reflected light or reflected waves; Distance distribution data is created by scanning an ultrasonic range finder along the longitudinal center axis of the bogie, and the diameter, width, shape, and height center coordinates of the cylindrical object are calculated based on this distance distribution data. And the calculation unit A position object shape detecting device for a cylindrical object, comprising: 3. The circle according to claim 2, further comprising an optical or ultrasonic range finder which is provided on a side wall of a yard where the truck moves in and out, and which measures a distance between a side surface in a longitudinal direction of the truck and the side wall. Position and shape detection device for columnar objects.