JPH1171091A - Measuring method for columnar object - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a measuring method for a columnar object whereby in a direction orthogonal relating to a center axis of a columnar object, by only one time moving a range finder, an external, diameter, width and a center position of the columnar object can be detected. SOLUTION: By scanning a range finder moved in a direction in parallel to a center axis of a columnar object 12, its width direction one end part Yb is detected, from this detection position, the range finder is moved by a prescribed distance Yw, in an upper position of the columnar object 12, movement of the range finder is temporarily stopped, in a direction orthogonal relating to the center axis of the columnar object 12, by swiveling the range finder scanned, the columnar object 12 is measured, from a measurement data on the periphery thereof, a diametric direction center position and external diameter of the columnar object are calculated, also from measurement data of width direction both end parts Ya, Yb of the measured columnar object 12, its width and width direction center position are calculated.

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 a columnar object, and more particularly to a method for automatically measuring a columnar object such as a steel coil or a paper roll (hereinafter simply referred to as a "columnar object") by a crane. When transporting, accurately measure the outer diameter and width of the columnar object and its center position so that the columnar object can be accurately pinched, hung, and transported by the crane's lifting device. The present invention relates to a method for measuring a cylindrical object as described above.

[0002]

2. Description of the Related Art For example, in a coil yard of a steel mill, in order to automatically convey a steel making coil by a crane, first, an outer diameter and a width of the steel making coil and a center position thereof are detected, and a hanging tool of the crane is adjusted accordingly. Must be lowered, pinched, and hung. For this reason, in the conventional method of measuring steel making coils, a one-dimensional laser optical distance meter with a swing mechanism is used to detect the outer diameter and width of the steel making coil mounted on the pallet and its center position. Installed on the top, the club is reciprocated in the direction perpendicular to the center axis of the steel coil, from the measurement data on the outer circumference of the steel coil measured during the forward movement of the club, the center position in the diameter direction of the steel coil and After calculating the outer diameter, the club is moved backward, the movement of the club is temporarily stopped at the center position in the diameter direction of the steel making coil, and the one-dimensional laser light distance meter is scanned in a direction parallel to the central axis of the steel making coil. The width of the steel coil and the center position in the width direction are calculated from the measured data on the outer periphery of the steel coil.

[0003]

By the way, in the above-mentioned conventional method for measuring a steelmaking coil, a club provided with a one-dimensional laser distance meter is used to detect the outer diameter and width of the steelmaking coil and the center position thereof. It is necessary to reciprocate in the direction orthogonal to the center axis of the coil. For this reason, when the number of steel-making coils to be measured increases, the time required for reciprocation of the club increases, and the work efficiency decreases. there were.

The present invention has been made in view of the above-mentioned problems of the conventional measuring method, and the outer diameter and width of the cylindrical object and its width can be obtained by moving the distance meter only once in a direction parallel to the central axis of the cylindrical object. It is an object of the present invention to provide a method for measuring a cylindrical object capable of detecting a center position.

[0005]

In order to achieve the above object, a method for measuring a columnar object according to the present invention is directed to a method of scanning a columnar object by moving a distance meter in a direction parallel to the center axis of the columnar object. Detect one end in the width direction of the object, move the distance meter from the detection position by a predetermined distance, temporarily stop the movement of the distance meter at a position above the columnar object, and with respect to the center axis of the columnar object. From the measurement data on the outer periphery of the columnar object measured by scanning by swinging the rangefinder in the direction perpendicular to the direction, the center position and the outer diameter in the diameter direction of the columnar object are calculated, and further, the columnar shape is calculated. The other end of the columnar object in the width direction is scanned by moving the distance meter in a direction parallel to the center axis of the object, and the other end in the width direction of the columnar object is detected. Calculates the width of the columnar object and the center position in the width direction Characterized in that the so that.

This method of measuring a columnar object is based on measurement data obtained by scanning and moving a distance meter in a direction parallel to the center axis of the columnar object, and measuring the data at both ends in the width direction of the columnar object. Calculate the width of the columnar object and the center position in the width direction, temporarily suspend the movement of the rangefinder above the columnar object, and swing the rangefinder in a direction orthogonal to the center axis of the columnar object. By calculating the center position and the outer diameter in the diameter direction of the cylindrical object from the measurement data on the outer circumference of the cylindrical object measured by scanning, the distance meter is moved in a direction parallel to the central axis of the cylindrical object. With only one movement, the outer diameter and width of the columnar object and the center position thereof can be detected.

[0007]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the method for measuring a cylindrical object according to the present invention will be described below, in which a steelmaking coil carried into and stored in a coil yard of a steelworks is measured by a crane capable of automatically operating. Will be described.

As shown in FIG. 1, in a coil yard of an ironworks, a plurality of steelmaking coils 10, 11, 12 are mounted on pallets 13 of a trailer carrier, and skids 14, 15, 16 are provided.
Is mounted and carried in the state of being positioned. The steelmaking coils 10, 11, and 12 may have the same diameter, or may have different diameters such as a medium-diameter steelmaking coil 10, a small-diameter steelmaking coil 11, and a large-diameter steelmaking coil 12, as shown in this embodiment. May be mounted on one pallet 13 in a mixed state. In this case, the steel making coil 1
It is assumed that 0, 11, and 12 are mounted with their central axes parallel to the longitudinal direction of the pallet 13.

In the coil yard, a crane 20 that can be automatically operated is installed on the ceiling. The overhead crane 20 includes a girder 21 and a club 22 traversing the girder 21.
And a steel-made coil hanger 23 suspended from the club 22 so as to be able to move up and down. The overhead crane 20 is equipped with a measuring device including a laser range finder 30 and an arithmetic control unit 40. As the distance meter 30, an ultrasonic distance meter can be used in addition to the above laser distance meter. Here, the traveling direction of the girder 21 of the overhead crane 20 is defined as an X direction, the traversing direction of the club 22 orthogonal to the X direction is defined as a Y direction, and the vertical direction is defined as a Z direction.

The laser type distance meter 30 includes a laser light source 32 for irradiating a laser beam toward the lower steelmaking coils 10, 11, and 12, and an irradiating laser beam for the steelmaking coils 10, 1 and 12.
And a light receiving unit 34 for receiving the reflected light 33 that has been reflected by the surfaces 1, 2 and the like. Further, the laser type distance meter 30 includes a swing motor 3 constituting a laser beam scanning mechanism.
5 so that the entire laser rangefinder 30 including the laser light source 32 and the light receiving unit 34 is swung within a predetermined angle range so that the laser beam 31 can be scanned in the X direction. It is configured. The swing angle of the laser rangefinder 30 by the swing motor 35 is configured to be measured by the encoder 36.

The arithmetic control unit 40 includes a microcomputer, and includes a laser light source 32, a light receiving unit 34,
It is electrically connected to the encoder 36 and the like, and is configured to input a signal such as a reflected light of the laser beam received by the light receiving unit 34 to the arithmetic and control unit 40 to obtain necessary data. Then, the arithmetic and control unit 40 generates the laser light 31 and its reflected light 33.
In accordance with the principle of the triangulation method using the angle made by, the distance to the steel making coils 10, 11, 12 is calculated and stored. Thereby, each steelmaking coil 10, 11, 12 obtained by scanning the laser distance meter 30 is obtained.
Is stored in the memory of the arithmetic and control unit 40, and while the laser distance meter 30 is being scanned, or after the scanning is completed, the steelmaking coils 10, 11, and 12 are transported by the crane 20 based on the data in the memory. Necessary data, that is, the outer diameter, width, center position, number, and the like of each of the steel making coils 10, 11, 12 are calculated. This calculation result is configured to be reported to a host computer (not shown) or a controller (not shown) of the overhead crane 20 via the calculation control unit 40.

Next, a method for measuring the outer diameter, width, center position and number of steel making coils will be described. As shown in FIG. 1, while the swing motor 35 is stopped, the club 22 is traversed on the girder 21 while irradiating the laser beam 31 in the vertical direction, so that the distance meter 30 is moved in the longitudinal direction of the girder 21.
That is, scanning is performed in the Y direction (direction parallel to the central axes of the steelmaking coils 10, 11, and 12).

FIG. 2 shows the measured data stored in the memory of the arithmetic and control unit 40 in the YZ plane when the rangefinder 30 is scanned in the Y direction. In this case, the scanning of the distance meter 30 is performed continuously, but a large number of measurement data is stored in the memory because the measurement data is sampled discretely. In FIG. 2, the vertical axis Z indicates the height distribution of the steelmaking coils 10, 11, 12 from the origin O when the origin O is on the ground 17. That is,
The measurement data 100 is the steel making coil 10 and the measurement data 110
Is the steel making coil 11 and the measurement data 120 is the steel making coil 1
2. Measurement data 130 is pallet 13 and measurement data 14
0 is skid 14, measurement data 150 is skid 15,
The measurement data 170 indicates the ground 17. It should be noted that the height of the measurement data 170 becomes 0 by performing coordinate conversion.

The X direction in FIG. 2 (steel making coils 10, 1)
The position in the direction of the central axes of the first and the second 12) can be measured by an encoder or the like attached to the girder 21. Further, the position in the Y direction (the direction orthogonal to the central axes of the steel making coils 10, 11, 12) can be measured by an encoder attached to the club 22 or the like.

Based on the measurement data, an arithmetic control unit 4
At 0, the center coordinates, the width, and the number of the steel making coils 10, 11, 12 in the Y direction are calculated. By deleting distance data whose height value Z is equal to or less than a predetermined value Zs from the measurement data shown in FIG.
Except for the measurement data on the outer circumferences of the pallets 1 and 12, for example, distance data of the pallet 13, skids 14, 15, 16 and ground 17 are excluded. Thereby, the calculation of the measurement data can be simplified, and the number of the steel making coils can be measured by detecting the discontinuous point of the effective measurement data.

First, Y of each steel making coil 10, 11, 12
Calculation method of center coordinates, width and number of directions
2 (the same applies to the steelmaking coils 10 and 11). As shown in FIG. 2, data Ya and Y at both ends of a large number of measurement data 120 on the outer periphery of the steel making coil 12.
The arithmetic mean of b in the Y direction, that is, Y0 = (Ya + Yb) / 2 (1) can be used to determine the center coordinate Y0 of the steelmaking coil 12 in the Y direction, and the center position is detected. be able to. Similarly, the width L of the steel making coil 12 can be obtained from the difference between the data Ya and Yb at both ends, that is, L = Yb−Ya (2).

By calculating the center coordinate Y0 and the width L of the steel making coil 12 in the Y direction in this way, the width of the steel making coil 12 and its center position can be detected.

The other steelmaking coils 10 and 11 mounted in series on the pallet 13 are similarly moved so that the club 22 is traversed on the girder 21 and the distance meter 30 is moved.
By scanning in the Y direction, the steel making coils 10, 1
1, the width in the Y direction and the center position thereof can be detected, and at the same time, the number of steelmaking coils can be detected.

Next, a method of measuring the outer diameter and the center position of the steel making coils 10, 11, 12 will be described for the steel making coil 12 (the same applies to the steel making coils 10, 11). As shown in FIGS. 1 and 2, while the swing motor 35 is stopped, the club 22 is traversed over the girder 21 while irradiating the laser beam 31 in the vertical direction, so that the distance meter 30 is moved in the longitudinal direction of the girder 21. Direction, ie Y
By scanning in the direction (the direction parallel to the central axis of the steelmaking coil 12), one end Yb in the width direction of the columnar object 12 can be detected as described above. At this time,
As shown in FIG. 3 to FIG.
Is moved by a predetermined distance Yw smaller than the width L of the steel making coil 12, and the swing motor 35 is driven in a state where the distance meter 30 is temporarily stopped at a position above the steel making coil 12. Is swung within a predetermined angle range 310, 311 to scan the laser beam 31 in the X direction.

FIG. 4 shows, on an XZ plane, measurement data stored in the memory of the arithmetic and control unit 40 when the rangefinder 30 is scanned in the X direction. In this case, the scanning of the distance meter 30 is performed continuously, but a large number of measurement data is stored in the memory because the measurement data is sampled discretely. In FIG. 4, the vertical axis Z indicates the height distribution of the steel making coil 12 from the origin O when the origin O is on the ground 17. That is, measurement data 1
Reference numeral 20 denotes the steel making coil 12, and measurement data 170 denotes the ground 17. It should be noted that the height of the measurement data 170 becomes 0 by performing coordinate conversion. In this case, the distance in the Z direction is an angle θ from the vertical direction of the swing motor 35, as shown in FIG.
And a value obtained by multiplying the actual measurement distance by cos θ.

Based on the measurement data, the arithmetic and control unit 4
At 0, the center coordinates P (X0, Z0) and the radius R of the steelmaking coil 12 in the X and Z directions are calculated. First, of the measurement data shown in FIG. 2, by deleting distance data whose height value Z is equal to or less than a predetermined value Zs, for example, other than the measurement data on the outer periphery of the steel making coil 12, for example, the pallet 13, Distance data of the skid 16, the ground 17, and the like are excluded. Thereby, the calculation of the outer diameter and the center position of the steel making coil 12 can be simplified.

From the measurement data 120 of the steel making coil 12 in the X and Z directions, three arbitrary points are selected, and the coordinates of these three points, that is, the points A, B and C are respectively expressed by (X
1, Z1), (X2, Z2), (X3, Z3).

The arithmetic control unit 40 calculates the three measurement data based on the equations (3) to (9) to obtain the center coordinates P (X) of the steel making coil 12 in the X and Z directions.
0, Z0) and radius R can be calculated. That is, (X0−X1) ² + (Z0−Z1) ² = R ² (3) (X0−X2) ² + (Z0−Z2) ² = R ² (4) (X0-X3) ² + (Z0-Z3) ² = R ² ... (5) 2X0 (X1-X2) + 2Z0 (Z1-Z2) = A1... (6) 2X0 (X1- X3) + 2Z0 (Z1-Z3 ) = B1 ····· (7) ^{where, A1 = X1 2 -X2 2 +} Z1 2 -Z2 2 B1 = X1 2 -X3 2 + Z1 2 -Z3 2 X0: steel coil 12 Of the center P of the steelmaking coil 12 in the Z direction X0: coordinates of the center P of the steelmaking coil 12 in the Z direction X1: coordinates of the point A in the X direction Z1: coordinates of the point A in the Z direction X2: coordinates of the point B in the X direction Z2: The coordinates of the point B in the Z direction X3: the coordinates of the point C in the X direction Z3: the coordinates of the point C in the Z direction. Is established, and from this, Expressions (8) and (9) are obtained.

[0024]

(Equation 1)

By calculating the center coordinates P (X0, Z0) and the radius R of the steel making coil 12 in the X and Z directions in this manner, the outer diameter of the steel making coil 12 and its center position can be detected. it can.

The other steelmaking coils 10 and 11 mounted in series on the pallet 13 are similarly moved so that the club 22 is traversed on the girder 21 and the distance meter 30 is moved.
Is rocked in a state of being temporarily stopped above the steel making coils 10 and 11, and the laser beam 31 is scanned in the X direction, so that the outer diameter of the steel making coils 10 and 11 and the center position thereof can be detected. .

In this case, the arithmetic control unit 40 determines three measurement points other than the three measurement data, which are arbitrarily determined separately, and based on the measurement data of the measurement points,
Similarly to the case of the points A, B, and C, the center coordinates P of the steel-making coils 10, 11, 12 in the X direction and the Z direction.
By calculating (X0, Z0) and the radius R, the outer diameters and the center positions of the steel making coils 10, 11, 12 can be detected, and the arithmetic values of a plurality (two or more) of these calculated values are arithmetically averaged. Thereby, the detection accuracy can be improved.

In the above embodiment, the entire rangefinder 30 is swung within a predetermined range of angles 310 and 311 by driving the swing motor 35. However, the laser beam 31 is moved in the X direction. The means for scanning is not limited to this. For example, as shown in FIGS. 6 and 7, the two reflecting mirrors 38 a and 38 b are swung within a range of predetermined angles 380 and 381 by the scan motor 39. The laser light 31 emitted from the laser light source 32 is reflected by the reflecting mirror 38a, and the reflected light from the steel making coil is reflected by the reflecting mirror 38b.
And the reflected light 33 is received by the light receiving unit 34.

Further, in the above embodiment, the method of measuring a steelmaking coil in a coil yard of an ironworks has been described. However, the method of measuring a cylindrical object according to the present invention is, for example, a method of measuring the shape of a cylindrical object such as a paper roll. And can be widely applied to position detection.

[0030]

According to the method for measuring a columnar object of the present invention, both ends in the width direction of the columnar object measured by scanning by moving the distance meter in a direction parallel to the central axis of the columnar object. From the measurement data, calculate the width of the columnar object and the center position in the width direction, suspend the movement of the distance meter above the columnar object, and move the distance meter in the direction orthogonal to the center axis of the columnar object. From the measurement data on the outer circumference of the cylindrical object measured by scanning by swinging the rangefinder,
By calculating the center position and outer diameter in the diameter direction of the cylindrical object, the outer diameter and width of the cylindrical object and its center can be obtained by moving the distance meter only once in the direction parallel to the central axis of the cylindrical object. The position can be detected. As a result, the time required for moving the range finder can be reduced, and the work efficiency when automatically transporting the cylindrical object can be improved.

[Brief description of the drawings]

FIG. 1 is an explanatory view (front view) showing one embodiment of a method for measuring a cylindrical object according to the present invention.

FIG. 2 is an explanatory diagram showing measurement data of a YZ plane of a steel making coil.

FIG. 3 is an explanatory view (side view) showing one embodiment of a method for measuring a cylindrical object according to the present invention.

FIG. 4 is an explanatory view (side view) showing measurement data of the XZ plane of the steel making coil.

FIG. 5 is an explanatory diagram (plan view) showing measurement data of the XZ plane of the steel making coil.

FIG. 6 is a side view showing different means for scanning a laser beam in the X direction.

FIG. 7 is a plan view of the same.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Steel-making coil 11 Steel-making coil 12 Steel-making coil 20 Crane 22 Club 30 Laser distance meter 31 Laser light 32 Laser light source 33 Reflected light 34 Light-receiving part 40 Operation control part

Claims (1)

[Claims] 1. A distance meter is moved in a direction parallel to a central axis of a cylindrical object to scan and detect one end in a width direction of the cylindrical object, and the distance meter is moved from the detected position by a predetermined distance. Move, suspend the movement of the distance meter at the position above the cylindrical object, and scan and measure the cylindrical object by swinging the distance meter in the direction perpendicular to the center axis of the cylindrical object. From the measurement data on the outer circumference, the center position and the outer diameter in the diameter direction of the columnar object are calculated, and further, the columnar object is scanned by moving the distance meter in a direction parallel to the center axis of the columnar object. The other end in the width direction is detected, and the width and the center position in the width direction of the columnar object are calculated from the measured data of the both ends in the width direction of the measured columnar object. Measurement method for cylindrical objects.