JPS5926568B2 - butsutaiokibakanrisouchi - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Application of the Invention) The present invention relates to a device that accurately grasps the loading, moving, and unloading of objects in an object storage area and manages their positions. The present invention relates to an object storage management device suitable for monitoring unreasonable movements of a target coil in a management system.

In this specification, (1) Carrying in refers to carrying in a target object from the carry-in entrance of the object storage area and placing it at a predetermined position inside the object storage area, and (2) Carrying out refers to moving the target object into an arbitrary position within the object storage area. (3) Moving means moving an object from a certain position within the object storage area to another position within the storage area.

(Background of the Invention) Recently, in order to make it possible to cool a hot-rolled coil rolled in a hot-rolling factory and adjust the work order of the next process until it is processed in the next downstream process. For the purpose of temporarily storing the coils, computer management of coil storage areas where coils are temporarily stored has begun to be introduced.

The main purpose of this computer management of the coil storage is to provide real-time coil storage information based on the coil position storage device that captures the positions of all target coils stored in the coil storage.
and work instructions to coil yard operators (workers in charge of moving coils in the coil storage area), real-time coil placement plans in the storage area, creation of storage area usage plans, and work such as loading, moving, and unloading coils into the coil storage area. Collection of achievements,
It's all about automation.

Therefore, the movement (carrying in, movement, taking out) of the target coil in the coil storage area is determined by the two-dimensional coil position coordinates (Xi, Yj, where 1°j=1...
n) In the above, the position information of each coil is accurately and reliably reported to the coil position storage device for each coil in the coil storage area, so that the coil arrangement in the actual coil storage area and the coil in the computer can be accurately and reliably reported. The effect of computer management described above can only be obtained when the coil position arrangement stored in the position storage device completely matches.

Therefore, if there is a mismatch between the two locations, incorrect information will be provided, resulting in an effect completely opposite to the intended purpose.

However, the fact that the actual coil arrangement in the coil storage area and the coil storage information stored in the coil position storage device in the computer (hereinafter referred to as the coil storage map) do not match accurately is particularly important for the following reasons. This has been experienced to occur in such cases.

First, the coil storage map is created using a computer system that allows the worker who transports the coil (loading, moving, and unloading) to complete the coil transport work (final lifting/hanging of the coil 9). Based on the work report for the coil, the computer system determines the coil position Xi for the coil.
, Yj, and edit them to create a map. However, if the worker forgets to report the completion of work, it is virtually unavoidable that the actual coil placement information may not be captured, and as a result, the coil storage map Missing or unidentified coils may appear that do not correspond to the above.

Secondly, the shape of the coil is cylindrical, and the floor of the coil storage area is often partially destroyed by stacking and unloading heavy coils, and it is not necessarily flat, but uneven or uneven. Because of the tilt, after the coil is unloaded from the coil transporter and placed in the designated place, it rolls and moves on its own, causing the coil to deviate from the position registered using the coil position information that has been taken in. Sometimes I put it away.

If the above-mentioned discrepancy occurs, the correspondence between the actual coil location and the coil location map in the computer will not be accurate, the reliability of the coil location map will decrease, and various problems related to computer management of this system will be affected. It is clear that the effect is no longer fully satisfactory.

(Object of the Invention) The present invention has been made in view of the above-mentioned circumstances, and its purpose is to:
The actual arrangement of objects in the object storage area is detected, the detection result is compared and contrasted with the object storage map stored in the computer at that time, and if there is a distance between the two, the location of the object is determined based on the detection result. To provide an object storage management device capable of updating a storage area map in real time.

(Embodiment) Hereinafter, an embodiment in which the present invention is applied to coil storage management will be described in detail with reference to the accompanying drawings.

First, the outline of the equipment configuration of the coil storage area related to the present invention is as follows.
This will be explained with reference to FIGS. 1 to 3.

A coil transporting machine 13 that carries the coil 14 into the coil storage area 15 and carries out/moves the coil 14 from there carries an X-axis beam that moves in the X-axis direction and a
It consists of a coil support machine 13a that moves in the axial direction.

The target coils 14 carried into the coil storage area 15 by the coil supporter 13a are arranged in an orderly manner in rows in the X-axis direction separated by ΔY in the X-axis direction, as shown in FIGS. 1 and 2.

In this case, ΔY is usually a constant distance in order to facilitate computer management of the coil storage area.
Further, from the viewpoint of effective utilization of the installation area, it is desirable that the coil arrangement interval in the X-axis direction be arbitrary.

In order to detect the position of the coil supporter 13a with respect to the X-axis and the X-axis direction traveling mechanism, and to detect the coordinate position X+vYJ of the target coil on the storage plane, (1) the Y-axis of the coil carrier 13; A Y-axis position detector 10 that detects the directional position Yj, and (2) an axial position detector 11 that detects the X-axis coordinate Xi of the coil supporter 13a on the X-axis beam of the coil carrier 13 are provided. .

Any type of position detector can be used as the above-mentioned position detectors, but for example, the transmitter 1 can be placed at an appropriate location on the coil carrier 13.
1t to generate an electromagnetic field along the same beam in the X-axis direction, a receiver 11r that moves together with the coil supporter 13a is arranged, and the position in the X-axis direction is detected from the received output of the receiver. Such a system is particularly suitable for the present invention.

The same applies to Y-axis position detection.

Furthermore, in order to detect the coil arrangement in the X-axis direction, the device of the present invention is provided integrally with or separately from the coil transporter 13, and automatically detects the presence or absence of coils while moving on the guide member 20 in the X-axis direction. One or more X-axis position detectors 12 for detecting the X-axis and a device 23 (see FIG. 3) for detecting the position of the detectors 12 on the X-axis are provided.

The X-axis coil detector 12 continuously transmits, for example, ultrasonic waves vertically downward while repeating stopping and running in the X-axis direction along the guide member 20, and transmits ultrasonic waves based on the intensity distribution of the reflected waves. This is to recognize the material.

A schematic side view of the X-axis coil detector 12 is shown in FIG.

22 is an ultrasonic transmitter that becomes a part of the material detector 12;
1 is a receiver.

Since the coil carrier 13 is in a stationary state while the coil is being lifted and suspended, the coil detector 12, which is provided separately from the coil carrier 13, scans in the X-axis direction. to detect the presence or absence of the coil.

As a specific method for this purpose, for example, the phenomenon in which an ultrasonic signal transmitted at a constant level from the transmitter 22 is reflected on the surface of the coil 14 is utilized, and the reflected wave is transmitted to the receiver 21.
There is a way to get it.

An example of the received signal (reflected wave intensity distribution) obtained by scanning in the X-axis direction for the coil arrangement as shown in Fig. 3 is as follows.
As shown in the figure.

In the figure, the horizontal axis indicates the position on the X-axis, and the vertical axis indicates the received signal level (ie, reflected wave intensity).

As can be seen from this figure, the reflective surface of the top of the coil is perpendicular to the transmitted signal from the transmitter 22, and it is also close in distance, so it corresponds to point A where the receiver output is highest. do.

On the other hand, at the point where the coil has its maximum diameter when viewed from the top, the reflecting surface is parallel to the transmitted signal, so the reflection level is extremely low - ie, as shown at point B in FIG. 4.

Furthermore, if there is no coil, the reflective surface will be concrete or something equivalent.

Since concrete has a low signal reflectance, although the reflecting surface is orthogonal to the transmitted signal, the reception level (reflected wave intensity) is lower than at the top of the coil, as shown in C in Figure 4.

Therefore, this received output is supplied to the extreme value finder 7 (Fig. 5), and after being discriminated at a level S higher than the above-mentioned C, it is differentiated, etc., to find the point A which shows an extreme value at a level higher than C. Once determined, that point will give the position of the coil in the X-axis direction.

Therefore, by taking in the output (coordinate position) of the position detector 23 at this time, the actual coil arrangement can be recognized.

Note that the above-mentioned X-axis coil detector 12 is replaced by a coil carrier 13.
When provided integrally with the coil carrier 13, the same coil arrangement detection and verification function as provided separately can be satisfied by determining the operating standards of the coil transporter 13 as described below.

(1) The coil transporter 13 moves the coil to the desired coil position
While moving to j - that is, until reaching the position of ¥1 in the Y-axis direction, the coil support machine 13a is moved to the starting point on the X-axis.

(2) When the coil carrier 13 reaches the target Y-direction position Yj, the coil supporter 13a is moved by Xi from the starting point to the target coil position.

Thereby, the X-axis coil detector 12 can detect and verify the coil arrangement from the starting point in the X-axis direction to the position Xi before lifting (or suspending) the target coil.

(3) If the desired coil is to be hoisted (or suspended), before transporting the coil to the coil destination Xi, Yj, move the coil supporter 13a to the coil position Xi at the same Y-axis Yj position. It is moved in the X-axis direction from the point to the end point in the X-axis direction, and the coil arrangement at this portion is detected and compared.

(4) After that, move in the Y-axis direction, and (1) and (
After detecting and collating the coil arrangement in the X-axis direction (from the starting point in the X-axis direction to Xi) on the Yj position of the Y-axis using a method similar to 2), the coil is suspended (or lift.

(5) After suspending (or lifting) the coil, if necessary, do the same as in (3) above to
At position j, the remaining coil arrays in the Y-axis direction are detected and verified.

Further, as described above, instead of detecting and verifying all the coils in the X-axis direction, the present invention detects and verifies the coil arrangement in the X-axis direction only within the range of the coil storage area 15 where the coil supporter 13a moves. It is clear that by simply doing this, certain effects can be achieved, namely, a reduction in the number of unknown coils and an improvement in the accuracy and reliability of the coil location map.

Coil support machine 13 is used to determine whether the coil is being taken out, sent to our store, or brought in.
This is done by the operator's recognition of the completion of the lifting and hanging operations of the coil 14 by a, or by detection by an appropriate automatic detection device (not shown).

Automatic detection of lifting, suspension, movement, carrying in, and carrying out of the coil described above is as follows: (1) Lifting is performed by detecting that the coil support machine 13a has descended in a non-loaded state and has risen in a loaded state. (2) Hanging is carried out by detecting that the coil support machine 13a descends in a loaded state and rises in an unloaded state. (3) Movement is carried out after lifting in the same storage area. (4) Carrying in is carried out by detecting that the coil support machine 13a has moved from the loading entrance into the loading area and then detecting the hanging of the object (*). 5) For unloading, after lifting, the coil support machine 13a
It is clear that each of these can be easily achieved by detecting movement to the exit in a loaded state.

FIG. 7 shows a determination procedure when suspending and lifting are automatically detected.

Therefore, when the coil is lifted or suspended, if the position of the coil supporting machine 13a attached to the coil transporting machine 13 is detected by the X-axis position detector 11 and the X-axis position detector 10, Position X i.

Removal of the coil from Yj or placement of the coil at the position Xi, Yj can be recognized and detected.

An example of a configuration for performing this processing is shown in the block diagram of FIG.

First, the positions Xi and Yj of the coil support machine 1.3a at the time when the coil transport work (lifting/hanging) is completed and the report or automatic detection is made are determined by the X-axis position detector 11 and the X-axis It is determined using the signal from the position detector 10, and is provided to the coil position storage device 2 as coil position information (or coil placement/removal information).

However, in order to conclude that the position of the coil supporter 13a is the coil position, it is actually necessary to consider the configuration of the coil supporter 13a of the coil transporter 13, but in this section, for convenience of explanation, It is assumed that the coil of interest is lifted and suspended vertically by the coil supporter 13a at any location within the coil storage area, or that appropriate corrections are made to the X and Y axis position detector outputs.

Coil position storage device 2 includes X-axis and Y-axis position detector 1
Using the coil position X1°Yj transmitted from 1.10, all the target coils are stored for each column of ΔY width set in the coil storage area.

That is, when a coil is lifted from a certain position Xi or Yj, the coil information or registration is deleted from the corresponding position in the coil position storage device 2, and conversely, when the coil is suspended from the above position, the coil information or registration is deleted from the corresponding position in the coil position storage device 2. Write and register the coil information in the corresponding position.

The storage site situation storage device 1 is a device that stores the loading/unloading entrance and exit of the storage site, and operational constraints of the storage site operation, specifically, usable storage sites, and the contents thereof may be fixed. Alternatively, it may be modified by temporarily changing the memory.

The storage device 1 is used for reference when checking the rationality when registering a newly imported coil position in the coil position storage device 2, and for displaying the usable range of the coil storage area to the operator.

On the other hand, the received output of the X-axis coil detector 12 is detected by the extreme value detector 7.
The point A in FIG.

Since the material recognition device 8 is simultaneously supplied with a signal giving the Y-axis direction position Yj of the coil transporter 13 at that time, the coordinate position x, Yj of the coil actually existing in the coil storage area 15 is stored. .

That is, while the coil transporter 13 is stationary in the Y-axis direction in order to transport (carry in, move, and take out) the target coil 14, the actual arrangement state of the coil in the X-axis direction is confirmed, and its Information is supplied to the material recognition device 8 and stored therein.

Reference numeral 9 denotes a verification device that verifies the output of the material recognition device 8, that is, the actual arrangement of the coils 14, and the contents of the coil position storage device 2 at that time, and displays whether or not they match.

If a discrepancy is displayed, the operator can determine why the discrepancy occurred and correct the contents of the coil position storage device 2 by appropriate means.

FIG. 6 shows a block diagram of an embodiment of the present invention.

Reference numeral 24 denotes a device 2 for inputting information to the material recognition device 8 that the coil transporter 13 has come to rest in the Y-axis direction by manual operation by a worker, and for instructing a change in the contents of the coil position storage device 2.
This is the first operation console which has the function of inputting a content change to the change command device 25 and the function of displaying the judgment result of the change command device 25 (for example, whether or not the command is permitted).

25 is the output Xi of the X-axis position detector 11 of the coil supporting machine 13a at the time of starting (or finishing) the coil loading, moving, and unloading work manually operated by the first operation console 24.
and the output Y of the X-axis position detector 10 of the coil transporter 13
j, and compares these with the information from the storage location storage device 1 at that time, and based on the work content and the acceptability of the work, the contents of the coil position storage device 2 are changed to the work that has just been performed. This is a coil position storage content change commanding device having a function of adding, changing, or deleting a new coil according to the content, or instructing the first operation console 24 to prohibit work or change the content.

The basic operating procedure of the coil position storage content change command device 25 is shown in the flowchart of FIG. 8, and will be briefly explained below.

When hoisting and hanging work of the coil is started by operation from the first operation console 24, it is determined whether the coil support machine 13a has stopped.

When the coil support machine 13a stops, its positions Xi, Yj
Load.

Then, it is determined whether the work content to be executed now is lifting or hanging.

Based on the results of the above-mentioned determination, it is checked against the information in the storage area storage device 1 and the constraint conditions to determine whether each task is permissible.

When the work is not permissible, the first operation console 24 displays the prohibition or change of the work.

On the other hand, if these operations are acceptable, after confirming that the operations have been completed, (1) in the case of lifting operations, delete the information that there is one coil from the positions Xi and Yj; (2) In the case of hanging work, information is stored (registered) that there is one coil at the positions Xi and Yj.

2 determines the information coordinates of the location of the coil placed in the coil storage area 15 based on a command from the coil position storage content change command device 25 or a command from the third console 26 serving as a coil position storage content correction device. This is a coil position storage device that stores the coil position.

Reference numeral 1 denotes a yard situation storage device whose contents can be changed by operating the second operation console 27, and stores therein, as described above, operational constraints on yard operation.

Although not directly related to the present invention, the reference numeral 28 designates a schedule determining device that makes a storage space usage plan in response to commands from the second console 27.

This schedule determination device makes logical judgments based on the stored contents of the storage location information storage device 1 and the coil position storage device 2, or displays the status of the storage location on the second console 21.

A scanning control device 29 instructs the material recognition device 8 to start and end the coil presence confirmation operation after the positioning of the coil transporter 13 in the X-axis direction is completed.

26, as described above with reference to FIG. 5, when a mismatch occurs as a result of comparing the actual position of the coil with the contents of the coil position storage device 2 in the matching device 9, the mismatch signal is received and displayed. This is a third operation console that not only prompts the worker to make an accurate judgment, but also provides a means for the worker to correct the content if the stored content of the coil position storage device 2 is incorrect.

The same reference numerals as in other figures 1 to 5 represent the same or equivalent parts.

After the stop of the coil transporter 13 in the X-axis direction is detected, the material recognition device 8 is activated by a command from the scanning control device 29, and the X-axis coil detector 12, the extreme value probe 7, the position detector 23, and Each output of the X-axis position detector 10 detects and recognizes the actual coil arrangement at that moment.

An example of the operating procedure of the material recognition device 8 is shown in the flowchart of FIG.

When the stop of movement of the coil transporter 13 in the Y direction is detected, for example, by the finger 4 from the first console 24 (or by monitoring the change state of the coordinate value Yj in the X-axis direction), the Y coordinate Yj at that time is read. It will be done.

At the same time, the X-axis coil detector 12 is activated and Yj
The detection operation of the coil in the X-axis direction on the coordinate position is started.

That is, first, read the output X of the position detector 23,
Confirm that this value is smaller than the maximum value Xmax in the X-axis direction.

Next, it is monitored whether an output is generated from the extreme value probe 7, and when an output is generated, the position detector 2 at that time is
There is one coil at the coordinate position LYj of 3. Information is stored.

Repeat the above operations until ma equals X m a x -
That is, the process is repeated until the coil position detection on the X-axis is completed.

The actual coil arrangement obtained as described above is compared with the stored contents of the coil position storage device 2 in the verification device 9.

If the two do not match, a message to that effect is output and displayed on the third control console 26.

Thereby, the operator can correct the cause of the discrepancy and make corrections to make the two contents match, and the stored contents of the coil position storage device 2 can always be updated in real time.

(Effects of the Invention) The approximate scale of the coil storage area that is the object of the present invention is that the amount of coils in stock is generally several dozen, the amount of coil movement within the storage area is approximately 50% of the amount of inventory, and the amount of coils moved within the storage area is approximately 50% of the amount of inventory. Several to 10 machines
There are only a few machines, and the transport operators have to perform various tasks at a rate of about once every few minutes, such as coil transport work and man-machine work.

In such a large-capacity, fluid storage system, workers inevitably forget to report their work as described above.

As a result, the difference between the actual coil placement in the coil storage area and the coil position distribution on the coil storage map increases day by day, and the error rate is maintained until the input coil is deleted from the storage area. Therefore, measures to eliminate the above-mentioned deviations are extremely important.

By introducing the coil storage management device of the present invention, the matching rate between the actual coil placement in the coil storage area and the computer's two-dimensional coil storage map is improved, and highly reliable coil storage information can be obtained.

Furthermore, according to the present invention, effects such as scheduling of storage sites, which are the main purposes of computer management, and rationalization and mechanization based on work results and production results can be achieved.

In addition, although the above description has been made by taking the management of a coil storage area as an example, it goes without saying that the present invention can also be applied to the management of storage areas for other articles and objects.

[Brief explanation of the drawing]

FIG. 1 is a plan view showing the schematic structure of the equipment when the present invention is applied to coil storage management, and FIG. 2 is a side view thereof.
FIG. 3 is a side view showing the schematic structure of the X-axis coil detector, FIG. 4 is a signal waveform diagram for explaining the coil detection operation according to FIG. 3, and FIG. 5 is a block diagram of the main parts of the present invention. FIG. 6 is a block diagram showing the overall structure of the present invention, FIG. 7 is a flowchart showing the procedure for automatically determining coil lifting and hanging operations, and FIG. 8 is the operation of the coil position storage content change command device 25. Flowchart showing the procedure. FIG. 9 is a flowchart showing the operation procedure of the material recognition device 8. 1...Location situation memory device, 2...Coil position memory device, 8...Material recognition device, 9...
...Verification device, 10...X-axis position detector,
11...X-axis position detector, 12...X
Axis coil detector, 13... Coil carrier, 23
...Position detector, 26...Third operation console.

Claims (1)

[Claims] 1. An object transporter that is movable in two coordinate axes directions within an object storage plane and that is equipped with an object supporter that carries objects into, or moves and takes out, the object, and one of the object supporters in the plane. A device that detects the position of a coordinate axis and another coordinate axis, an object detector that travels back and forth in the direction of one coordinate axis and detects the presence or absence of an object on the travel path, and a device that detects the position of the object detector in the direction of one coordinate axis. and the delivery of objects,
Each time the object is moved or taken out, the outputs of the two coordinate axis direction position detection devices of the object support machine are supplied, and information on the presence or absence of the object at the relevant position is stored according to the loading, movement, or removal of the object. An object storage management device comprising: a storage device; and a verification device that compares the output of an object detector with the stored content of an object position storage device and generates a discrepancy signal.