JPS6183908A - Packaging style detector for object to be conveyed - Google Patents

Abstract

PURPOSE:To enable the detection of the position and the packaging style of an object to be conveyed viewed from one or multiple directions, by providing a projection distance meter and a moving distance meter on a moving unit movable in a fixed direction within a vertical plane. CONSTITUTION:This apparatus is made up of a projection distance meter 10 and a moving distance meter 11. Then, the projection distance meter 10 measures the projection distance H to the surface of an object 2 continuously to be conveyed by a laser light beam or the like. The moving distance meter 11 measures the varying distance V of a moving unit 4 continuously from the specified origin 0. Then, the projection distance H and the moving distance V measured with the projection distance meter 10 and the moving distance meter 11 respectively undergoes an arithmetic processing with a control section 12 and the convex and concave dimension of the side of the object 2 being conveyed and the position thereof are calculated to be transmitted into a signal transmitting/receiving section 13 as data signal. The section 13 transmits the data signal from the control section 12 to an external controller 14 while doing an automatic operation command signal to a winch 8 from the controller 14. Thus, the rationalization of material handling work, the reduction of the operation time, labor saving and the like are enabled.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention is directed to a device for detecting the appearance of objects to be transported in automated cargo handling equipment.

Conventional technology In conventional cargo handling equipment, even if it is automated, the stopping position of the trolley and the loading condition of the transported material are not always the same, except for the work of handling the shells on a trolley or truck with a crane, etc. Because of the irregularity, manual operation from a crane or remote manual operation while heavy felling using an industrial television camera, etc., had to be done.

Problems to be Solved by the Invention However, with the conventional method, complete automation is not possible, so there is a problem that it is not possible to sufficiently rationalize work, shorten operating time, save labor, etc.

Means for Solving the Problems In order to solve the above-mentioned problems, the present invention provides a device that is movable in a fixed direction with respect to the transported object on the side or side and above the transported object. one or more moving devices equipped with a projection distance meter for measuring the projected distance from the side or side of the object to the object, and a distance traveled by the moving device itself. This device is equipped with a moving distance meter that measures the distance of the transported object.

Function The function of the present invention is to move the moving device in a fixed direction with respect to the mu transported object, measure the projected distance to each point on the surface of the transported object while scanning the surface of the transported object with a projection distance meter, and simultaneously measure the projected distance to each point on the surface of the transported object. By measuring the moving distance of the moving device and, in turn, the projection distance meter, using a moving distance meter, the position and appearance of the transported object as seen from one direction or multiple directions can be detected.

Embodiments Hereinafter, embodiments of the present invention will be described based on the drawings, and the same elements or parts in each drawing will be denoted by the same reference numerals.

A first embodiment is shown in FIGS. 1 and 2. In this embodiment, a support body 3 is provided on the side of an object to be rolled 2 loaded on a trolley etc. 1, a moving device 4 is provided on the support body 3, and a load form detection device 5 and a processing device are provided on the moving device 4. The device 6 is attached.

The truck etc. 1 is a truck or a truck (not shown) movably provided on the rails 7 .

The object to be transported 2 is a plurality of plate-like objects such as slabs stacked on the loading platform of a cart or the like 1, but the number may be one,
Further, the shape may be box-like, such as a container, or coil-like, such as a steel plate.

The support body 3 is an inverted columnar body, and is erected on the side of a predetermined stopping position of the truck 1 or the like.

The moving device 4 is a trolley suspended by a hoisting device 8 provided at the top of the support body 3 via a wire 9 so as to be movable up and down along the support body 3 .

The load detecting device 5 includes a projection distance meter 10 and a moving distance meter 11.

The projection distance meter 10 is a non-contact distance meter that uses a laser beam or the like, and is capable of continuously measuring the projection distance H to the surface of the object 2 to be transported.

A total of 11 moving mirrors are moved from a predetermined origin O (for example, the starting point of the moving device R4 at the lower end of the support 3). tlI
The moving path mV of the device 4 can be continuously measured.

The processing device 6 includes a control section 12 and a signal transmitting/receiving section 13.

The control unit 12 includes a projected distance pIIt meter 10 and a moving distance meter 1.
A device that calculates the dimensions and position of the unevenness on the side surface of the object 2 by calculating the projected distance H and the moving path l4Iiv measured by 1, and transmits these to the signal transmitting and receiving section 13 as a data signal. be.

The signal transmitting/receiving section L3 transmits the data signal from the control section 12 to the external controller 14, and also transmits the data signal from the control section 12 to the external controller 14.
This is a device that transmits the automatic operation command signal from 4 to the hoisting device 8.

The controller 14 performs arithmetic processing on the data signal from the signal transmitting/receiving unit 13 and transmits it to an automatic loading machine (not shown) such as a crane, stores and uses it as input data for an automatic operation program, and also issues commands for automatic operation. This is a device that transmits a signal to the hoisting device 8 via the signal transmitting/receiving section 13.

The automatic operation of the cargo handling work according to this embodiment is divided into a work of detecting the shape of the transported object 2 as a preliminary step and an actual cargo handling work.

First, while moving the moving device 4 up and down the sides of the transported object 2, the projected distance nH to each point on the surface of the cart etc. 1 and the transported object 2 is measured using a projection distance meter 1O, and at the same time the moving distance is measured. Total 6
The moving path iv of the moving device 4 from the origin 0 is measured. This moving distance V represents the vertical distance of each measured point from the origin 0. When these measured values are shown graphically, it becomes lζ as shown in FIG.

In FIG. 3, the horizontal axis indicates the projected distance HXfli1' axis indicates the displacement distance, that is, the vertical distance iv. Extracting the points necessary for load state detection from the measured points, corner points PI, P2...Ps of the cart etc. 1 and the transported object 2, and the point P on the most concave surface.
6, and the measurement liquid at each of these points is e (H+
, V+ ), (H2,V2), (H2,Vs ), (
H4°V4), (H5, VS), and (H6). Therefore, the broken line A (thick solid line in the diagram) connecting the points PL, Pg, P2...P8 indicates the measured packaging shape.

The control unit 12 calculates the horizontal pressure 1 at the apparent center position of the transported object 2 from -i (Hs + H2 + reference width of the transported object 2).
'll, calculate the stacking deviation of the transported object 2 from ■Ha H2, and calculate the height of the lowest surface of the transported object 2, the height of the uppermost surface, and the height of the transported object 2 from ■V+, Vs, Vs - Vt. Calculate the height. These calculation results indicate the location where the transported object 2 can be handled safely and reliably, and the data is transmitted as a signal to the controller 4 via the signal transmitting/receiving section 13. The controller 4 processes this data signal, uses it as an input signal for the automatic operation program, and transmits it to an automatic loading machine (not shown). Thereafter, in accordance with this automatic operation program, the automatic loading machine handles the transported object 2, while the moving device periodically repeats the work of detecting the object.

A second embodiment is shown in FIG. In the first embodiment, the mobile device'?
1.4 only moves up and down in a vertical plane, but in the second embodiment, by making the support 3 movable, the moving device 4 moves horizontally and hangs as it goes up and down in a vertical plane. It is something.

The support body 3 is movably supported on two rails 15 laid in parallel along the rail 7.

Other than that, it is the same as the first embodiment. According to the second embodiment, it is possible to detect the package shape over the entire side surface of the transported object 2. If a moving distance compass 11 (indicated by a two-dot chain line in the figure) for measuring the moving distance is attached, the detection position will be known, making it more effective.

A third embodiment is shown in FIG. In both the first embodiment and the second embodiment, the load form is detected only from the side of the transported object 2, but when the shape of the transported object 2 is irregular, etc., the load form is detected from above. In some cases, it may be necessary to detect the state of the package. The third embodiment meets this requirement. The support body 16 has a girder R
The two leg portions 18
It was supported by A first moving bamboo 19 is suspended from one leg 18 so as to be movable up and down along the leg 18 , and a second moving device 20 is supported by the handle 17 so as to be horizontally movable along the handle 17 . has been done. Each of the first and second moving devices is equipped with a package detection device 5 and a processing device 6, and is connected to an external controller 14. According to the third embodiment, at the same time when the first moving device 19 detects the appearance of the transported object 2 as seen from the side, the second moving device 20 detects the appearance of the transported object 2 as seen from above. is detected. Its operation is similar to that of the first embodiment.

As a fourth embodiment (see FIG. 5), the support 16 in the third embodiment may be configured to be able to run parallel to the rail 7.

As a result, the shape of the package can be detected over the entire side surface and top surface of the object 2 to be transported. It should be noted that if the support body 16 is equipped with a travel distance meter 11 that measures the movement distance of the support body 16 itself, the detection position will be known, which will be more effective.

As a fifth embodiment (not shown), the moving devices 4 or 19 may be provided on both the left and right sides of the transported object 2. This results in 2
The packaging conditions of the objects 2 to be transported in a row can be detected at the same time.

Effects of the Invention Since the present invention has the above-mentioned configuration, the packing form of the transported object can be
Since it can be automatically detected not only from the direction but also from the order direction, there is an advantage that cargo handling equipment can be fully automated. Therefore, it is possible to rationalize cargo handling work, shorten operating time, save labor, etc., and it is highly effective! Demonstrate 1.

4. Brief explanation of the drawings Fig. 1 is a front view of a device for detecting the packaging state of a transported object showing a first embodiment of the present invention, Fig. 2 is a block diagram of an electrical device of the first embodiment; FIG. 3 is a chart showing the packing form of the transported objects detected by the first embodiment, FIG. 4 is a front view showing the second embodiment of the present invention, and FIG. 5 is a diagram showing the third embodiment of the present invention. FIG.

2 Object to be transported 4 Moving device 5 Packing position protection: L device 10 Projection range meter ■ 1 Moving distance meter [9 First moving pedestal 20 Second moving all-placement patent applicant Representative of Kawa Pig Iron Groove Industry Co., Ltd. Person Fumi Naru Figure 5 V Figure 1 Figure 2 Figure 4

Claims (1)

[Scope of Claims] 1. A moving device that is provided so as to be movable in a fixed direction in a vertical plane on the side of the object to be transported is provided with a projection distance from the side of the object to the object to be transported. A load state detection device for a transported object, which is equipped with a projection distance meter for measuring and a moving distance meter for measuring the moving distance of the moving device itself. 2. The device for detecting the packaged state of a transported object according to claim 1, wherein the moving device is provided so as to be movable in the vertical direction and the horizontal direction within a vertical plane on the side of the transported object. 3. A first moving device is provided to be movable in a fixed direction in a vertical plane on the side of the object to be transported, and a second moving device is provided to be movable in a fixed direction in a horizontal plane above the object to be transported. Each of the first and second moving devices includes a projection distance meter that measures a projected distance from the side or above of the transported object to the transported object, and a projection distance meter that measures the moving distance of each moving device itself. This device is equipped with a moving distance meter that detects the condition of transported objects. 4. The first moving device is provided so as to be movable vertically and horizontally within a vertical plane on the side of the transported object, and the second moving device is provided so as to be movable in vertical and horizontal directions within a horizontal plane above the transported object. Claim 3 which is movably provided
A device for detecting the packaging state of a transported object as described in Section 1.