JPH11173824A - Coil location detecting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make quickly and highly accurately detectable the location of a coil by providing a coil computing device to obtain the radial center location and the coil diameter of the coil from the height of the lower end of the coil and shape data through the use of the Hough transmission. SOLUTION: A television camera 10 picks up the image of a coil 2, and the obtained image pickup signal is subjected to image processing by an image processing device 14 and is inputted to a shape computing device 16 together with the angle of projection θ from a slit light scanning device 12 to measure the 3-dimensional shape of the coil 2. In addition, a lower end location detector 19 detects the height of the lower end of the coil 2. A coil computing device 18 obtains the radial location and the coil diameter of the coil 2 on the basis of 3-dimensional shape data measured by the shape computing device 16 and the lower end location of the coil 2 detected by the lower end location detector 19. The Hough transformation is used at the time of obtaining the radial center location of the coil 2 and the radius of the coil 2. As a small number of arithmetic processings is sufficient by this, it is possible to compute at fast speed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a coil position detecting device applied to an unmanned operation of an overhead crane in a coil yard of a steelworks.

[0002]

2. Description of the Related Art Conventionally, as a coil position detecting device applied to an unmanned operation of an overhead crane in a coil yard of a steel mill, there is a device disclosed in, for example, JP-A-6-66522 (hereinafter referred to as "conventional"). Example 1). In this publication, the following arithmetic processing is performed in detecting the radial center position of the coil and the coil diameter. FIG. 17 is an explanatory diagram thereof. As shown, any two points on the circumference are connected, and the intersection of the perpendicular bisector is determined as the center of the circle.
The point at which the perpendicular bisector intersects most is defined as the radial center position of the coil. The radius r of the circle is obtained by substituting the obtained center position (a, b) into the equation of the circle.

There is also a method of calculating the radial center position of the coil and the coil diameter by Newton-Raphson method using coil diameter data (hereinafter referred to as Conventional Example 2). In this calculation process, the error is calculated by substituting the coil diameter data into the equation of the circle, and when the error is greater than or equal to the threshold value, it is determined to be noise and removed from the coil diameter data, and the remaining coil diameter data is used again. Newton
The radial center position and coil diameter of the coil are obtained by the Rapson method.

[0004]

In the above conventional example 1, when the radial center position of the coil or the coil diameter is obtained, the point (a, b) where the perpendicular bisector intersects most is centered. Although the influence of noise is reduced by setting the position, the value changes depending on how to take two points on the circumference when obtaining the radial center position of the coil, and the way to take the two points is determined. difficult. In addition, all the coil diameter data are not used effectively, so that there is a problem that the detection accuracy is not good.

Further, in the above conventional example 2, when the error is equal to or larger than the threshold value, it is determined that the noise is noise, and the influence of the noise is cut by removing the error from the coil diameter data. However, it is necessary to set an appropriate threshold value. However, there is a problem that it is difficult to set an appropriate threshold value.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and has as its object to provide a coil position detecting device capable of detecting a coil position with high speed and high accuracy. I do.

[0007]

A coil position detecting device according to the present invention comprises a shape measuring means for optically measuring the outer shape of a coil, a lower end height of the coil in the coil shape data measured by the shape measuring means, Coil calculation means for obtaining a center position in the coil radial direction and a coil diameter using Hough transform from the shape data obtained by projecting the coil shape data measured by the shape measuring means in the width direction of the coil. It is a thing. In addition, the lower end height of the coil may be detected by providing the lower end position with a detecting means, or the coil may be mounted on a normal cart (or pallet). Since the sheet is conveyed, the height of the lower end of the coil may be obtained in advance in accordance with the type of the truck or pallet on which the coil is mounted and which is conveyed, instead of the lower end position detecting means.

In the present invention, the outer shape of the coil is optically measured by the shape measuring means. As a measuring method, for example, a method in which a laser distance meter attached to a trolley of a crane is scanned in the radial direction of the coil, There is a method in which a laser spot light or a laser slit light is projected, an image is captured by an image capturing means such as a TV camera, and the image is obtained based on the principle of triangulation. However, the present invention is not limited to these methods. The coil calculating means projects the measured three-dimensional shape data of the coil in the width direction of the coil, and based on the projected shape data and the height of the lower end of the coil, the radial center position of the coil and the coil diameter. , And 3 of the slit light irradiating section for a plurality of slit lights.
The dimensional shape data is projected in the radial direction of the coil parallel to the reference plane to determine the center position in the width direction of the coil and the coil width.

In the present invention, as described above, the three-dimensional shape of the coil is measured, and the discrimination between the coil and other areas (floor surface, trolley, etc.) is determined from the height and the shape. And robust measurement has been realized. Further, in the two-dimensional data, there is a shape distortion due to the perspective effect, but since the three-dimensional data is used, such a shape distortion can be removed.

According to the present invention, when the radial center position of the coil and the coil diameter are obtained, the Hough transform is used based on the radial projection data of the measured shape data and the height of the lower end of the coil. Therefore, all the shape data can be used effectively, and the calculation does not require the setting of a threshold unlike the related art. Moreover, by detecting the height of the lower end of the coil and incorporating it in the calculation, the amount of calculation is reduced and the speed of the calculation process is increased. Hereinafter, the reason why the Hough transform is introduced in the present invention will be described.

(Introduction of Hough transform :)
The equation of a circle as shown in FIG. 18 is represented by the following equation (1). (X−a) ² + (y−b) ² = r ² (1) Center of circle: (a, b) Radius: r

As shown in FIG. 19, when the lower end position of the coil is known (b = r), the equation of the circle is given by the following equation (2).
It is expressed by an equation. (X−a) ² + (y−r) ² = r ² (2) When this expression (2) is Hough transformed, the following expression (2a) is obtained.
It is expressed like a formula. (Ax) ² + (ry) ² = r ² (2a) By transforming the equation (2a), the following equation (2b) is obtained. 2r = y + (ax) ² / y (2b)

When a quadratic curve is drawn by substituting the shape information (x _i , y _i ) of the measured diameter into the equation (2b), a point where the quadratic curve intersects at one point is formed as shown in FIG. The coordinates of this point are the radial center position a of the coil and the coil diameter 2r.
Will be shown. Therefore, the position where the quadratic curve is drawn at each coordinate in the two-dimensional plane of a and 2r is counted, and the coordinate having the largest counted value is obtained, thereby obtaining the radial center position a of the coil and the coil diameter 2r. Can be requested. In this calculation, the radial center position and the coil diameter of the coil can be known only by calculating each point of the diameter shape information (x _i , y _i ) once, as in a normal Hough transform.
Since it is not necessary to perform the calculation while changing the radius r, the speed of the calculation process can be increased.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS (Embodiment 1) FIG. 1 is a configuration diagram for explaining a measurement principle of a coil position detecting device according to an embodiment of the present invention. In the drawing, the DUT 2 is placed on a reference plane 1, and a television camera 10 is arranged on the reference plane 1 so that the central axis at the time of photographing is orthogonal. The slit light scanning devices 12 are arranged at different positions. Slit light scanning device 1
Numeral 2 generates slit light 12a and scans it. The television camera 10 captures an image of the state, the captured signal is subjected to image processing by the image processing device 14, and the image signal is input to the shape calculation device 16 together with the projection angle θ from the slit light scanning device 12, and the shape calculation is performed. The three-dimensional shape of the device under test 2 is measured by the device 16. Further, a lower end position detector 19 is provided, which detects the lower end position of the DUT 2 and detects the height of the lower end of the DUT 2 optically or mechanically. Since the coil 2 is transported on a normal cart (or pallet),
In this case, the height of the lower end of the coil 2 may be detected by detecting the height of the mounting surface of the cart or the like, and may be detected once if the cart or the like is the same model. In the coil operation device 18,
Based on the three-dimensional shape measured by the shape calculation device 16 and the lower end position of the DUT 2 detected by the lower end position detector 19, the radial center position of the coil, which is the DUT 2, the coil diameter, Find the coil width, etc. When obtaining the radial center position of the coil and the coil radius, the Hough transform is used as described above. Note that the configuration of the coil position detecting device in FIG. 1 is similarly applied to an embodiment described later.

Next, the coil position detecting device shown in FIG. 1 will be described in terms of a measuring method, a principle of shape calculation, a direction of slit light, multi-slit formation, and generation of slit light. (A) Measurement method The optical system uses an optical system generally called a light section method. FIG. 2 is a diagram showing a configuration of the slit light scanning device 12. The slit light scanning device 12 first generates a slit light by scanning a laser spot light from the semiconductor laser 20 with a first scanning mirror 22 whose rotation is controlled by a drive motor 22a. At this time, the direction of the laser slit light is set in the y-axis direction in FIG. 1, and the projection position of the laser slit light in the x-axis direction in FIG. Control. At the same time, the projection angle θ of the scanning mirror 24 at this time is output to the shape calculation device 16 as an angle signal. Then, the irradiation pattern of the laser slit light 12 a is captured by the television camera 10 and input to the image processing device 14. The image processing device 14 performs image processing on an image pickup signal of the television camera 14 and extracts an image signal corresponding to the laser slit light from the image signal. The shape calculating device 16 calculates three-dimensional coordinates of the laser slit light from the position of the laser slit light of the extracted image signal and the laser projection angle θ at that time based on the principle of triangulation described later. .

(B) Principle of Shape Calculation The shape calculation device 16 calculates the three-dimensional coordinates of the laser slit light of the multi-slit light generated by the slit light scanning device 12 to obtain the entire shape of the DUT 2. . This shape calculation is based on a triangulation method. Laser slit light 12a is projected from the slit light scanning device 12 onto the measurement target (coil) 2 at a projection angle θ, and the state is imaged by the television camera 10. The height z (x ′, y ′) of the point (x ′, y ′) at which the laser light extracted from the image captured by the television camera 10 shines is
In consideration of the perspective effect of the television camera 10, the following relationship is established. z (x ′, y ′) = Z ₀ − {X ₀ − (1−z (x ′, y ′) / a) x} tan θ (x ′, y ′) (3) x ′: TV camera in position y on the reference plane of the captured image ': position on the reference plane of the image captured by the television camera X _0: x-coordinate Z ₀ of the laser beam scanning rotation axis: z of the laser beam scanning rotation axis Coordinate a: distance between the television camera and the reference plane θ: laser slit light projection angle If the above equation (1) is modified, the height z (x ′, y ′) of the point where the laser slit light hits becomes Is determined by

[0017]

(Equation 1)

The coordinates (x, y) on the three-dimensional coordinates of the point (x, y) where the laser light is extracted on the image are given by the following equations. x = ｛1−z (x ′, y ′) / a｝ x ′ (5) y = ｛1−z (x ′, y ′) / a｝ y ′ (6) It is clear from the above description. As described above, the coordinates x ', y' on the image of the television camera 10 at the projection angle .theta.
It can be seen that the three-dimensional coordinates x, y, z of the detected point are obtained by the above equations (4), (5), (6). Equations (5) and (6) are corrected for the perspective effect that the distance between the device under test 2 and the television camera 10 is finite, so that the closer to the television camera 10, the larger it looks. It can be seen that accurate shape detection cannot be performed only with a two-dimensional image.

(C) Direction of Slit Light In the above-described triangulation method, if the laser slit light is configured to be parallel to the y-axis direction on the reference plane 1, the shape on the same slit light is Can be calculated as the same projection angle θ. Therefore, by obtaining the position (x ', y') of each point of the laser slit light on the image of the television camera 10, the three-dimensional coordinate (position / height) data of the portion hit by the slit light can be calculated by the above equation. Can be obtained by

(D) Multi-slit formation With information of one laser slit light, only one section information of the object to be measured can be obtained. Therefore, first, the second scanning mirror 2
4 scans the first scanning mirror 22 and projects the laser slit light in the y-axis direction with the projection angle θ. The slit light is imaged by the television camera 10, and the shape on one section is calculated from the slit light image by the above-described calculation method. Next, the projection angle of the second scanning mirror 24 is changed from θ to a small angle Δθ.
, And again by the first scanning mirror 22, y
The laser slit light is projected in the axial direction. In this manner, the shape of a plurality of cross sections is measured one after another while changing the projection angle θ of the laser slit light, and the overall shape of the DUT 2 can be reconstructed by synthesizing the respective cross sectional shapes. The smaller the rotation pitch Δθ of the second scanning mirror 24, the better the shape resolution of the measured object. However,
On the other hand, the measurement time becomes longer.

(E) Generation of Slit Light In the above description, an example of generating laser slit light by scanning laser spot light has been described.
If a sufficient amount of light can be obtained, the same measurement can be performed by placing a rod lens or a cylindrical lens in the optical path of the laser spot light, generating laser slit light, and projecting this.

Now that the principle of measurement in this embodiment has been clarified by the above description, an example in which the optical system of FIG. 1 is arranged on an overhead crane will be described. FIG.
(A), (B), and (C) are a plan view, a front view, and a view of the television camera 10 in a configuration example in which the optical system (the television camera 10 and the slit light scanning device 12) of FIG. FIG. As shown in FIG. 1A, the television camera 10 is disposed on the trolley 30 in a direction rotated by 45 ° with respect to the traversing direction, and the optical axis thereof is positioned vertically downward. The slit light scanning device 12 is installed on the x-axis of the television camera 10, and adjusts the direction of the slit light so as to be parallel to the y-axis direction of the television camera 10. Coil 3 to be measured
Is placed in parallel with the traveling direction or traveling direction of the crane, so that the attitude of the coil 3 captured by the television camera 10 is inclined (rotated) by 45 ° in the field of view. In the yard, the coil 3 is arranged in either the traverse direction or the traveling direction of the crane, and the arrangement direction is grasped by a system computer managing the yard.

In this state, the slit light scanning device 12 irradiates the upper surface of the coil 3 while scanning the laser slit light,
A slit light image at an angle of 45 degrees with respect to the coil 3 is obtained by the television camera 10, and further, the image processing device 14
To extract the image signal corresponding to the laser slit light,
Then, the projection angle θ of the laser light is
Then, the height of the point where the laser light hits is calculated from the above and the position of the laser light based on the above-described calculation formula. By sequentially performing this operation for a plurality of lines, it is possible to obtain a plurality of cross-sectional shapes of an object in a measurement visual field such as a coil / cart and a floor surface.

Next, the coil operation device 18 uses the shape data to identify the coil and the peripheral portion (the floor and the truck) from the difference in height because the coil is higher than the floor and the truck. To extract only the shape of the coil. Furthermore, in order to detect the position of the coil from the plurality of cross-sectional shapes of the extracted coil, the cross-sectional shape in the radial direction and the width direction of the coil is obtained.

FIG. 4 is an explanatory diagram for determining the cross-sectional shape of the coil in the radial and width directions. Here, the direction in which the shape data of the coil 3 is rotated by the installation angle (45 °) of the television camera 10 as the detection head, that is, the trolley 30
The shape data is projected in the traversing direction and the traveling direction, respectively. As a projection method, an average value of shape data in the coil width direction is obtained in the coil width direction. In the illustrated example, for example, an average value of the slit lights 41, 42, 43 at, for example, the illustrated points is obtained, and the average value is set as a value of a point in the projected shape in the coil width direction.
The projection value (shape data) 45 in the coil width direction is obtained by calculating the average value of the other points of 4, 43 and 44. Further, by taking the maximum value of the shape data in the coil radial direction in the coil radial direction, accurate shape data can be obtained. In the illustrated example, the slit lights 41, 42, 43, 4
4 are projected in the coil radial direction.
By taking the maximum value of 43a and 44a, a projected shape (shape data) 46 in the coil radial direction is obtained.

Although the above description is an example in the case where the arrangement direction of the coil 3 is known in advance, the same processing can be performed when the direction is not known in advance. In such a case, the direction is temporarily determined, and then the projected shape (shape data) in the coil width direction and the radial direction is obtained, and the arrangement direction can be determined from the shape data. If the direction is incorrect, the projection shape (shape data) in the coil radial direction is obtained for the determined arrangement direction.

Next, a method for obtaining the coil width direction position, the coil width, the coil radial direction center position, and the coil diameter from the shape data projected in the coil width direction and the radial direction will be described. As for the coil width direction, as shown in FIG. 5, by detecting points at the left and right ends that exceed separately set height data from the projected width direction shape data, the points are shifted to the right and left of the coil. Recognize as an edge. Therefore, the center position and the width in the coil width direction can be obtained by the following equations. Coil center position = (right edge + left edge) / 2 (7) Coil width = | right edge−left edge | (8)

In the coil radial direction, since the projected coil shape is a semicircle, the equation of the circle is
ugh) Convert and substitute the shape data projected in the coil width direction and the height of the lower end of the coil detected by the lower end position detector 19 into a quadratic curve, and count the drawn position. Then, by obtaining the coordinates having the largest count value, the radial center position of the coil and the coil diameter can be obtained. The details of this calculation method are as described above. (C _x −x ) ² + (r−z) ² = r ² 2r = z + (c _x −x) ² / z (9) x, z: semicircular shape data c _x , r ( = C _z ): Radial center position of coil r: Coil radius

In the present embodiment, since the coil position is detected as described above, the following effects are obtained. (1) The center position and the coil diameter in the coil radial direction are obtained by using the Hough transform, and the center of the circle is obtained by the majority decision method from the shape data of a plurality of points on the circumference. Even if the disturbance data greatly deviates from the value to be originally taken, the disturbance data is deleted from the center position calculation data of the circle. For this reason, compared with a method of finding the center of a circle from all data such as the least square method, the present embodiment is less affected by disturbance, and can accurately determine the coil center position. (2) Since the lower end position detector 19 is provided and the height of the coil pallet or yard is obtained, the coil diameter can be easily obtained. Therefore, in the present embodiment, the Huff transform calculation is performed under the condition that the coil diameter is known, so that the coil center position in the coil radial direction can be obtained. The coil center position can be detected in time. (3) Since the center position and width in the width direction of the coil, the center position in the radial direction of the coil, and the coil diameter are obtained from a plurality of coil cross-sectional shapes, a part of the laser slit light is generated due to a difference in the reflectance of a part of the coil. Even if there is a situation where detection is impossible, the shape of the missing part can be obtained from the cross-sectional shape of the other part that can be detected, so that robust measurement against disturbance can be realized. (4) The laser slit light is scanned obliquely with respect to the coil,
By calculating a plurality of cross-sectional shapes and projecting them in the radial direction and the width direction of the coil, the center position in the width direction of the coil is obtained.
The width, the radial center position of the coil, and the coil diameter are determined.
It is not necessary to change the direction of the detecting head, even if the direction of the coil is the direction of the crane's traverse direction or the traveling direction. The coil position can be detected by one television camera and one slit light scanning device (laser light source). (5) Since the detection head can be composed of one television camera and one slit light scanning device (laser light source), a compact detection head can be constructed, and the installation and adjustment of the detection head can be easily performed. Now you can. (6) The three-dimensional shape data of the plurality of slit lights are projected in the width direction of the coil to determine the radial center position and the coil diameter of the coil, and the three-dimensional shape data of the plurality of slit lights are parallel to the reference plane. Since the center position in the width direction of the coil and the coil width are calculated by projecting in the radial direction of the coil, in the automatic operation of the overhead crane, the stop position of the coil bogie such as the trailer is slightly shifted or the bogie is loaded on the bogie. Even if the position of the coil is deviated from a predetermined position, the position of the coil can be accurately detected, and the automatic operation of the overhead crane which has been conventionally performed by a dedicated operator can be realized. .

(Embodiment 2) FIGS. 6A, 6B,
(C) shows a plan view, a front view, and an image in the field of view of the television camera 10 in another configuration example in which the optical system (the television camera 10 and the slit light scanning device 12) of FIG. FIG. As shown in FIG. 1A, the television camera 10 is disposed on the trolley 30 so that its transverse direction is the raster direction of the television camera and its optical axis is vertically downward. The slit light scanning device 12 is installed on the x-axis of the television camera 10, and adjusts the direction of the slit light so as to be parallel to the y-axis direction of the television camera 10. The coil 3 to be measured is placed so that the coil width direction is the traveling direction of the crane 30. Note that the arrangement direction of the coil 3 is grasped by a system computer that manages the yard.

In this state, the slit light scanning device 12 irradiates the upper surface of the coil 3 with the laser slit light while scanning the laser slit light at substantially equal intervals in the coil radial direction in parallel with the coil width direction. Then, a slit light image is obtained by the television camera 10, an image signal corresponding to the laser slit light is extracted by the image processing device 14, and the projection angle θ of the laser light and the laser light From the position and the height, the height of the point irradiated with the laser beam is calculated based on the above-described calculation formula. By sequentially performing this operation for a plurality of lines, it is possible to obtain a plurality of cross-sectional shapes of an object in a measurement visual field such as a coil / cart and a floor surface.

Next, the coil operation device 18 uses the shape data to identify the coil and the peripheral portion (the floor and the truck) from the difference in height because the coil is higher than the floor and the truck. To extract only the shape of the coil. Furthermore, in order to detect the position of the coil from the plurality of cross-sectional shapes of the extracted coil, the cross-sectional shape in the radial direction and the width direction of the coil is obtained. The cross-sectional shape is obtained by projecting the coil shape data in the coil radial direction and the width direction. As a projection method, an average value of shape data in the coil width direction is obtained in the coil width direction. Further, by taking the maximum value of the shape data in the coil radial direction in the coil radial direction, accurate shape data can be obtained.

Next, a method of obtaining the coil width direction position, coil width, coil radial direction center position, and coil diameter from the shape data projected in the coil width direction and the radial direction will be described. Regarding the coil width direction, as shown in FIG.
By detecting points at both left and right ends exceeding height data set separately from the projected shape data in the width direction, the points are recognized as right and left edges of the coil. Therefore, the center position and the width in the coil width direction can be obtained by the following equations. Coil center position = (right edge + left edge) / 2 (10) Coil width = | right edge−left edge | (11)

An example of measurement in the coil radial direction will be described with reference to FIGS. FIG. 8 is a view showing a projected shape when the coil is placed parallel to the crane traversing direction, and FIG. 9 is a view showing a projected shape when the coil is placed slightly inclined to the crane traversing direction. FIG. In addition,
In FIGS. 8 and 9, the height data has the z-axis on the near side in the drawing.

In measuring the coil width, the positions of the left end face and the right end face of the coil are first determined by the least square method using the left edges L1 to Ln and the right edges R1 to Rn of the coil cross-sectional data. The inclination φ of the coil and the width of the coil are obtained from the end face position data. The radial center position of the coil is obtained by projecting the shape data in the coil width direction onto a projection surface parallel to the axis of the coil inclination angle φ direction, and the projected coil shape becomes a semicircle. Like the form, the equation of the circle is Hough transformed,
By substituting the shape data projected in the coil width direction and the height of the lower end of the coil into it, drawing a quadratic curve, counting the drawn position, and finding the coordinates with the largest count value, The radial center position of the coil and the coil diameter can be obtained. (C _x −x ) ² + (r−z ) ² = r ² 2r = z + (c _x −x) ² / z (12) x, z: semi-circular shape data of the coil obtained by projection c _x , r (= c _z ): Radial center position r: Coil radius

In the present embodiment, the coil position is detected as described above. The following effects are obtained in addition to the effects described above. That is, in the present embodiment, if the radial center position of the coil is determined based on the above equation (12), the center position in the width direction of the coil is located on the radial center position (y 'axis) of the coil. In addition, since it is located at the center (on the x 'axis) of the left and right coil end surface positions, it can be easily calculated as the intersection (x', y ') with the radial center position (y' axis) of the coil. Therefore, according to this embodiment, even if the direction of the coil is slightly inclined at the coil installation position, the shape of a plurality of cross sections is measured. Both can be measured, and the coil can be lifted accurately by rotating the lifter by the tilt angle φ of the coil.

(Embodiment 3) FIGS. 10 (A), (B),
(C) is a plan view, a front view, and a view showing an image in the field of view of the television camera 10 in another configuration example in which the optical system (the television camera 10 and the slit light scanning device 12) of FIG. It is. As shown in FIG. 1A, the television camera 10 is disposed on the trolley 30 so that its transverse direction is the raster direction of the television camera and its optical axis is vertically downward. The slit light scanning device 12 is installed on the x-axis of the television camera 10, and adjusts the direction of the slit light so as to be parallel to the y-axis direction of the television camera 10. The coil 3 to be measured is placed so that the coil width direction is the traversing direction of the crane 30. Note that the arrangement direction of the coil 3 is grasped by a system computer that manages the yard.

In this state, the slit light scanning device 12 irradiates the upper surface of the coil 3 while scanning the laser slit light at substantially equal intervals in the coil width direction in parallel with the coil radial direction. And, furthermore,
The image signal corresponding to the laser slit light is extracted by the image processing device 14, and the height of the point where the laser light hits is determined from the projection angle θ of the laser light and the position of the laser light by the shape calculation device 16 as described above. Calculate based on the arithmetic expression. By sequentially performing this operation for a plurality of lines, it is possible to obtain a plurality of cross-sectional shapes of an object in a measurement visual field such as a coil / cart and a floor surface.

Next, the coil operation device 18 uses the shape data to identify the coil and the peripheral portion (the floor and the truck) from the difference in height, since the coil is higher than the floor and the truck. To extract only the shape of the coil. Furthermore, in order to detect the position of the coil from the plurality of cross-sectional shapes of the extracted coil, the cross-sectional shape in the radial direction and the width direction of the coil is obtained. The cross-sectional shape is obtained by projecting the coil shape data in the coil radial direction and the width direction.

FIG. 11 is an explanatory diagram for determining the cross-sectional shape of the coil in the radial direction and the width direction. Here, the shape data of the coil 3 is projected in the traversing direction and the traveling direction of the trolley 30, respectively. As a projection method, an average value of shape data in the coil width direction is obtained in the coil width direction. In the illustrated example, the slit lights 41, 42, 43,
For example, an average value of the points shown in FIG. 44 is obtained, and the average value is set as a value of a point in the projected shape in the coil width direction. Similarly, the average value is obtained for other points of the slit lights 41 to 45. , A projection shape (shape data) 46 in the coil width direction is obtained. Further, by taking the maximum value of the shape data in the coil radial direction in the coil radial direction, accurate shape data can be obtained. In the illustrated example, the slit light 41,
By taking the maximum value of data 41a, 42a, 43a, 44a, and 45a obtained by projecting 42, 43, 44, and 45 in the coil radial direction, a projected shape (shape data) 47 in the coil radial direction is obtained.

Next, a method for obtaining the coil width direction position, coil width, coil radial direction center position, and coil diameter from the shape data projected in the coil width direction and the radial direction will be described. As for the coil width direction, as shown in FIG. 12, by detecting points at the left and right ends exceeding the separately set height data from the projected width direction shape data, the points are shifted to the right and left of the coil. Recognize as an edge. Therefore, the center position and the width in the coil width direction can be obtained by the following equations. Coil center position = (right edge + left edge) / 2 (13) Coil width = | right edge−left edge | (14)

As for the radial center position of the coil, since the projected coil shape becomes a semicircular shape, the equation of the circle is Hough transformed, and the shape data and the coil projected in the coil width direction are calculated. Substitute the height of the bottom of
The radial position of the coil and the coil diameter can be obtained by drawing the next curve, counting the drawn positions, and obtaining the coordinates having the largest count value. ^{_{(C x -x) 2 + (}} r-z) 2 = r 2 2r = z + (c x -x) 2 / z ... (15) x, z: semicircular shape data of a coil obtained by the projection c _x , r (= c _z ): radial center position of coil r: coil radius

In the present embodiment, since the radial center position and the coil diameter of the coil, the central position in the width direction of the coil and the coil width are detected as described above, the same effects as those of the second embodiment can be obtained. ing.

(Embodiment 4) FIGS. 13 (A), (B),
FIG. 2C is a plan view, a front view, and a view showing an image in the field of view of the TV camera 10 in another configuration example in which the optical system (TV camera, slit light scanning device) of FIG. . As shown in FIG. 1A, the television camera 10 is disposed on the trolley 30 such that the traversing direction is the raster direction of the television camera and the optical axis thereof is vertically downward. One of the two slit light scanning devices 12 and 13 is installed on the x-axis of the television camera 10 so that the direction of the slit light is parallel to the y-axis direction of the television camera 10. adjust. The other slit light scanning device 13 is installed on the y-axis of the television camera 10 and adjusts the direction of the slit light so as to be parallel to the x-axis direction of the television camera 10. The coil 3 to be measured is placed so that the coil width direction is the traveling direction of the crane 30 or the transverse direction. Note that the arrangement direction of the coil 3 is grasped by a system computer that manages the yard.

In this state, the slit light scanning device 12 (or 13) generates laser slit light parallel to the coil width direction, and scans the laser slit light on the upper surface of the coil 3 at substantially equal intervals in the coil radial direction. Irradiate. The slit light image is obtained by the television camera 10, the image signal corresponding to the laser slit light is extracted by the image processing device 14, and the projection angle θ of the laser light and the position of the laser light are Calculates the height of the point where the laser light hits. By sequentially performing this operation for a plurality of lines, it is possible to obtain a plurality of cross-sectional shapes of an object in a measurement visual field such as a coil / cart and a floor surface. Where 2
Which of the slit light scanning devices 12 and 13 to use is determined by checking the direction of the coil before measurement and using the one in which the direction of the slit light is in the coil width direction. In the illustrated example, it is assumed that the slit light scanning device 12 is selected and used.

Next, the coil arithmetic unit 18 performs the same arithmetic processing as in the above-described second embodiment using the shape data to obtain the radial center position and the coil diameter of the coil, the central position in the width direction of the coil, and the coil position. Find each width.

In the present embodiment, as described above, since the slit light scanning devices 12 and 13 are provided in the traverse direction and the traveling direction of the crane with respect to the position of the television camera 10, the coil installation direction is Irrespective of the crane's traversing direction or traveling direction, the slit light scanning device corresponding to it (the slit light is parallel to the coil width direction)
By selecting and using, measurement can be performed with the same detection method.

(Embodiment 5) FIG.
(B) and (C) show a plan view, a front view, and an image of the field of view of the TV camera 10 in another configuration example in which the optical system (TV camera, slit light scanning device) of FIG. FIG. As shown in FIG.
The television camera 10 is disposed on the trolley 30 such that the transverse direction is in the raster direction (x-axis direction) of the television camera and the optical axis is vertically downward. 2
One of the slit light scanning devices 12 and 13 is installed on the x-axis of the television camera 10, and the direction of the slit light is adjusted to be parallel to the y-axis direction of the television camera 10. I do. The other slit light scanning device 13 is installed on the y-axis of the television camera 10 and adjusts the direction of the slit light so as to be parallel to the x-axis direction of the television camera 10. Also in this case, the coil 3 to be measured is placed so that the coil width direction is the traveling direction of the crane or the transverse direction. Note that the arrangement direction of the coil 3 is grasped by a system computer that manages the yard.

In this state, the slit light scanning device 13 (or 12) generates laser slit light parallel to the coil radial direction, and scans the laser slit light on the upper surface of the coil 3 at substantially equal intervals in the coil width direction. Irradiate. The slit light image is obtained by the television camera 10, the image signal corresponding to the laser slit light is extracted by the image processing device 14, and the projection angle θ of the laser light and the position of the laser light are Calculates the height of the point where the laser light hits. By sequentially performing this operation for a plurality of lines, it is possible to obtain a plurality of cross-sectional shapes of an object in a measurement visual field such as a coil / cart and a floor surface. Also in this embodiment, two slit light scanning devices 12 and 13 are used.
The direction of the coil is checked before measurement, and the direction in which the slit light is directed in the coil radial direction is selected and used. In the illustrated example, it is assumed that the slit light scanning device 13 is selected and used.

Next, the coil arithmetic unit 18 performs the same arithmetic processing as in the above-described third embodiment by using the shape data to obtain the radial center position and the coil diameter of the coil, the central position in the width direction of the coil, and the coil position. Find each width.

Also in this embodiment, as described above, since the slit scanning device is provided in the crane's traversing direction and the traveling direction with respect to the television camera position, the coil is installed even in the crane's traversing direction. The direction can be measured by the same detection method by using a corresponding slit scanning device according to the direction of the coil.

(Embodiment 6) FIGS. 15 (A), (B),
(C) is a plan view, a front view, and a view showing images in the field of view of the TV cameras 10 and 11 in another configuration example in which the optical system (TV camera, slit light scanning device) of FIG. It is. As shown in FIG.
Two television cameras 10 and 11 are provided on the ceiling trolley 30, one of which is mounted on the traversing side of the lifter 31, the other one is mounted on the running side of the lifter 31, and both of them are mounted on the traveling side of the lifter 31. The optical axis is the coil 3 below the lifter 31
Is installed so that can be imaged. Further, the two laser beam scanning devices 12 and 13 are installed on the x-axis of each of the television cameras 10 and 11, and the direction of the slit light is
Adjustment is made so as to be parallel to the y-axis direction of 0,11. The coil 3 to be measured is placed so that the coil width direction is the traveling direction of the crane or the traversing direction.
Note that the arrangement direction of the coil 3 is grasped by a system computer that manages the yard.

In this state, the slit light scanning device 12 (or 13) generates laser slit light in the coil width direction and scans the slit light at substantially equal intervals in the coil radial direction in parallel with the coil width direction. 3 Irradiate on the upper surface,
The slit light image is obtained by the television camera 10 (or 11), an image signal corresponding to the laser slit light is extracted by the image processing device 14, and the projection angle θ of the laser light is From the position of the laser beam, the height of the point where the laser beam hits is calculated based on the above-mentioned calculation formula. By sequentially performing this operation for a plurality of lines, it is possible to obtain a plurality of cross-sectional shapes of an object in a measurement visual field such as a coil / cart and a floor surface. Here, whether to use the set of the television camera 10 and the slit light scanning device 12 or the set of the television camera 11 and the slit light scanning device 13 is determined by checking the direction of the coil 3 before measurement. The light whose direction is the coil width direction is selected and used. In the illustrated example, a set of the television camera 10 and the slit light scanning device 12 is selected and used.

Next, the coil arithmetic unit 18 performs the same arithmetic processing as in the above-described second embodiment using the shape data to obtain the radial center position and the coil diameter of the coil, the central position in the coil width direction, Find the coil width respectively.

As described above, the coil center position and the like obtained with reference to the cameras 10 and 11 are determined by the position of the TV camera (the distance between the lifter and the TV camera, the inclination angle of the optical axis of the TV camera from the vertical direction, the TV camera By measuring the height from the floor surface and the distance between the TV camera and the TV camera reference plane in advance, the coil center position can be converted into the coil center position based on the position of the lifter 31. u = L ₁ − (a−z) sin φ + x cos φ (16) v = L ₂ − (a−z) cos φ + x (17) where u, v: coordinate system based on lifter x, y: camera based coordinate system z: coil center positions calculated (height) L _1: lifter - camera distance L _2: camera height a: camera - between camera reference plane distance phi: tilt angle from the vertical axis of the optical axis of the camera

In this embodiment, the TV camera 1
Since the sets of 0, 11 and the slit light scanning devices 12, 13 are provided in the crane's traversing direction and the traveling direction, respectively, the coil can be installed in either the traversing direction or the traveling direction of the crane. In addition, by selecting and using a pair of a corresponding television camera and slit light scanning device, it is possible to perform measurement using the same detection method.

(Embodiment 7) FIGS. 16 (A), (B),
(C) is a plan view, a front view, and a view showing images in the field of view of the TV cameras 10 and 11 in another configuration example in which the optical system (TV camera, slit light scanning device) of FIG. It is. As shown in FIG.
Two television cameras 10 and 11 are provided on a ceiling trolley 30, one of which is mounted on the traversing side of the lifter 31, the other one is mounted on the running side of the lifter 31, and their lights are controlled. The shaft is installed such that the coil 3 below the lifter 31 can be imaged. Further, the two laser light scanning devices 12 and 13 are installed on the x-axis of each of the television cameras 10 and 12, and the direction of the slit light is determined by the television cameras 10 and 11.
Is adjusted so as to be parallel to the y-axis direction. The coil 3 to be measured is placed so that the coil width direction is the traveling direction of the crane or the traversing direction. Note that the arrangement direction of the coil 3 is grasped by a system computer that manages the yard.

In such a state, the slit light scanning device 12 (or 13) generates laser slit light in the coil radial direction and scans the slit light at substantially equal intervals in the coil radial direction in parallel with the coil radial direction. Coil 3
Irradiates the upper surface of the. The slit light image is obtained by the television camera 10 (or 11), and further, the image processing device 14
To extract the image signal corresponding to the laser slit light,
Then, the projection angle θ of the laser light is
From the position of the laser light, the height of the point hit by the laser light is calculated. By sequentially performing this operation for a plurality of lines, it is possible to obtain a plurality of cross-sectional shapes of an object in a measurement visual field such as a coil / cart and a floor surface. Here, TV camera 1
To determine whether to use the combination of the slit light scanning device 12 and the television camera 11 and the slit light scanning device 13, the orientation of the coil 3 is checked before measurement and the direction of the slit light Select and use the one in the width direction. In the illustrated example, a set of the television camera 10 and the slit light scanning device 12 is selected and used.

Next, the coil arithmetic unit 18 performs the same arithmetic processing as in the above-described third and second embodiments using the shape data to obtain the radial center position of the coil, the coil diameter, and the coil diameter. And the coil width are determined.

Then, in this way, the cameras 10, 1
The coil center position and the like determined with reference to 1 are the position of the TV camera (the distance between the lifter and the TV camera, the inclination angle of the optical axis of the TV camera from the vertical direction, the height of the TV camera from the floor, the TV camera TV camera reference plane distance)
Can be converted into a coil center position based on the position of the lifter 31 as a reference. It is obtained by the equations (16) and (17) in the sixth embodiment.

Also in this embodiment, the TV camera 1
Since the sets of 0, 11 and the slit light scanning devices 12, 13 are provided in the traverse direction and the traveling direction of the crane, respectively, the coil can be installed in either the traversing direction or the traveling direction of the crane. By using a combination of a TV camera and a slit light scanning device corresponding to the direction of the coil and using the same, measurement can be performed by the same detection method.

[0062]

As apparent from the above description, according to the present invention, the shape data obtained by optically measuring the outer shape of the coil and projecting the measured coil shape data in the coil width direction. And the height of the lower end of the coil,
h) Since the center position and the coil diameter in the coil radial direction are obtained by using the conversion, the information on the coil diameter can be used effectively, so that the detection accuracy is good. Furthermore,
Since a threshold is not required for the calculation, the setting of the threshold is unnecessary, and the influence of noise is removed by so-called majority decision, so that the detection accuracy is high. Furthermore,
There is an advantage that the radial center position of the coil and the coil diameter can be obtained by one logic. In addition, since the height of the lower end of the coil is obtained and treated as known, there is no need to judge data by changing the radius as in the usual Hough transform, and the number of calculation processes is reduced. , High-speed operation is possible.

[Brief description of the drawings]

FIG. 1 is a configuration diagram for explaining a measurement principle of a coil position detection device according to an embodiment of the present invention.

FIG. 2 is a diagram illustrating a configuration of a slit light scanning device in FIG. 1;

3A and 3B are explanatory diagrams of a configuration example (Embodiment 1) in which the optical system of FIG. 1 is arranged on an overhead crane, wherein FIG. 3A is a plan view, FIG. 3B is a front view, and FIG. It is the figure which showed the image of a visual field.

FIG. 4 is an explanatory diagram when obtaining a cross-sectional shape in a radial direction and a width direction of a coil in the first embodiment.

FIG. 5 is an explanatory diagram when a coil width and the like are obtained from shape data in a width direction projected in a radial direction of the coil in the first embodiment.

6A and 6B are explanatory diagrams of another configuration example (Embodiment 2) in which the optical system of FIG. 1 is arranged on an overhead crane, where FIG. 6A is a plan view, FIG. 6B is a front view, and FIG. FIG. 4 is a diagram showing an image of a field of view of a camera.

FIG. 7 is an explanatory diagram when a cross-sectional shape of a coil in a width direction is obtained in a second embodiment.

FIG. 8 is a diagram showing a projected shape when a coil is placed in parallel with a crane traversing direction in a second embodiment.

FIG. 9 is a diagram showing a projected shape when a coil is placed slightly inclined with respect to a crane traversing direction in the second embodiment.

10 is an explanatory diagram of another configuration example (Embodiment 3) in which the optical system of FIG. 1 is arranged on an overhead crane, where (A) is a plan view, (B) is a front view, and (C) is a television. FIG. 4 is a diagram showing an image of a field of view of a camera.

FIG. 11 is an explanatory diagram for obtaining a cross-sectional shape in a radial direction and a width direction of a coil in a third embodiment.

FIG. 12 is an explanatory diagram for obtaining a cross-sectional shape in a width direction of a coil in a third embodiment.

13A and 13B are explanatory diagrams of another configuration example (Embodiment 4) in which the optical system of FIG. 1 is arranged on an overhead crane, wherein FIG. 13A is a plan view, FIG. 13B is a front view, and FIG. FIG. 4 is a diagram showing an image of a field of view of a camera.

14A and 14B are explanatory diagrams of another configuration example (Embodiment 5) arranged in the optical overhead crane of FIG. 1, wherein FIG. 14A is a plan view, FIG. 14B is a front view, and FIG. FIG. 3 is a diagram showing an image of a field of view.

15A and 15B are explanatory diagrams of another configuration example (Embodiment 6) in which the optical system of FIG. 1 is arranged on an overhead crane, where FIG. 15A is a plan view, FIG. 15B is a front view, and FIG. FIG. 4 is a diagram showing an image of a field of view of a camera.

16A and 16B are explanatory diagrams of another configuration example (Embodiment 7) in which the optical system of FIG. 1 is disposed on an overhead crane, where FIG. 16A is a plan view, FIG. 16B is a front view, and FIG. FIG. 4 is a diagram showing an image of a field of view of a camera.

FIG. 17 is an explanatory diagram of a conventional method of calculating a radial center position and a coil diameter of a coil.

FIG. 18 is an explanatory diagram (part 1) of the reason why the Hough transform is introduced in the present invention.

FIG. 19 is a diagram (part 2) for explaining the reason why the Hough transform is introduced in the present invention.

FIG. 20 is an explanatory view (part 3) of the reason for introducing the Hough transform in the present invention.

Claims (3)

[Claims] 1. A shape measuring means for optically measuring the outer shape of a coil, a lower end height of the coil of the coil shape data measured by the shape measuring means, and a coil shape data measured by the shape measuring means are determined by the coil. A coil position detection device comprising: coil calculation means for obtaining a center position and a coil diameter in a coil radial direction using Hough transform from shape data obtained by projecting in a width direction. 2. A shape measuring means for optically measuring an outer shape of the coil, a lower end position detecting means for detecting a height of a lower end of the coil, and a coil shape data obtained by the shape measuring means in a width direction of the coil. And coil calculation means for calculating the center position and the coil diameter in the coil radial direction using Hough transform from the shape data obtained by projecting the image data and the lower end height of the coil detected by the lower end position detecting means. A coil position detection device characterized by the above-mentioned. 3. The height of the lower end of the coil is determined in advance according to the type of a trolley or a pallet on which the coil is mounted and transported, instead of the lower end position detecting means. Coil position detecting device.