JPS624042A - Method of automatically cutting coil binding hoop - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a method for fully automatically cutting a binding hoop of a coil, such as a metal strip bound into a coil.

[Conventional technology]

In conventional automatic cutting methods for coil binding hoops, cutting is usually performed on the assumption that the hoop is located in a certain fixed area. That is, the number of hoops and their binding positions are set in advance, and the hoops are automatically cut with some margin for variation in the positions.

However, in practice, if the hoop becomes loose during coil conveyance or handling, and its position shifts, a cutting error will occur. To solve this problem, there is a method in which the hoop is scooped up over the entire width of the coil, and a method in which the hoop is similarly cut over the entire width using a rotary saw blade or the like.

~ [Problems to be solved by the invention] However, in both cases, in addition to problems such as long processing times and the need for large eaves on the surface of the coil, there were major problems such as the following, and full automation was the national seal. .

That is, when the cutting position coincides with the end of the coil, the step of the plate and the edge of the hoop interfere with each other, making it difficult to cut. In particular, it is difficult to cut coils such as hot-rolled coils in which the ends of the coils have a fishtail shape, and automatic hoop cutting for hot-rolled coils has been virtually impossible in the past.

An object of the present invention is to automatically detect binding hoops and fishtails even in coils having fishtails as described above or coils with variable hoop positions, and to automatically cut the hoops according to the signal. It is.

[Means for solving problems]

To achieve the above objective, the main point is to automatically detect the bush tail position and hoop position of the coil. Therefore, a coil rotation device II, an image input processing device such as a TV camera 4, and an image signal storage processing device 6 as shown in FIGS. 1a and 1b are used. The state of the fishtail 2 and hoop 3 of the coil 1 is
b As shown in figure b, view the TV from the front direction of the coil (direction A).
Take a picture from the left camera and collect one image signal. At this time, since it is necessary to grasp the state of the entire circumference of the coil, the coil 1 is rotated by the coil rotation device 11.

Images can be taken linearly at fixed timings (intervals) as shown in Figure 2 while rotating the coil 1, or each time the coil 1 is rotated by a fixed angle (one screen), as shown in dotted lines in Figure 1a. It is also possible to obtain the images by collecting them in a planar manner and combining them in the image signal storage processing device 6, but the method is not specified. However, when inputting these image signals, the following illumination is performed in order to achieve the original purpose. i.e. fishtail 2 and hoop 3
The shape of the edge is captured as a shadow due to the difference in plate thickness, and the difference in shading in the image signal becomes clear. At this time, as shown in Fig. 1b, the illumination is applied to the front of the coil diagonally from the front diagonally right (10 in Fig. 1b) and diagonally left (9 in Fig. 1b) respectively, and the coil's fishtail 2 and The shadow of the thickness step of the hoop 3 is made clear. The image signals are obtained by capturing the states of each of the left and right illumination lights and combining them by the processing device 6 to form an original image for subsequent image signal processing. At this time, the intensity of the illumination is such that the necessary shadows of the fishtail 2 and hoop 3 are clearly visible on the surface of the coil, and the exposure (aperture) of the camera 4 is set such that the shadows of the necessary fishtail 2 and hoop 3 are clearly visible on the surface of the coil 1. For image processing, it is best to set it just before the halation state, to the extent that disturbances are no longer visible. By such a method, the edges of the fishtail 2 and the hoop 3 on the entire outer circumferential surface of the coil can be clearly input and stored in the image signal storage processing device 6 as an image signal of the shadow of the plate thickness step.

This image signal is converted into a line drawing using various generally well-known processing techniques, and is converted into a binary signal. For example, the original image signal can be converted into a line drawing (■ in FIG. 3) by differentiating the signal value of each point with those of surrounding points and emphasizing its edge lines. Such processing is easily possible by using a general-purpose image processing program package; for example, the program package "SPIDERR J" developed by the Ministry of International Trade and Industry and the Electronic Technology Research Institute can also be used. The position of the fishtail 2 and the position of the hoop 3 are detected by processing the binary signal image (■ in Fig. 3) representing the state of the coil surface obtained in this way.
The method is described below.

It is assumed that the width of the coil 1 is given in advance when performing such processing. When a set of two horizontal signals whose width and length match are extracted, a line drawing (■ in FIG. 3) corresponding to the edge of the coil is obtained. When the portion corresponding to that signal is deleted from the binary signal image of the coil surface, a binary signal image is obtained in which there are no coil edges and only the fishtail 2 and hoop 3 remain. If a set of two signals in the horizontal direction in which the width and length of the hoop 3 match are extracted from this image, an image (■ in FIG. 3) in which only the hoop 3 is extracted is obtained. This is set as a hoop image and is temporarily stored. Next, the hoop image portion is deleted from the binary signal image in which only the fishtail 2 and hoop 3 remain. The image that remains here (■ in Figure 3) is the fishtail 2 of coil 1.
By applying the following processing to the 2 short signals distributed in the longitudinal direction of the plate of coil 1, Finster 2
can detect the position of That is, as shown in (■) in FIG. 3, the number of pixels of the two short signals constituting the fishtail image is totaled in the axial direction of the coil, and a distribution map in the longitudinal direction of the plate is created. From this signal distribution, general statistical methods (for example, average value, peak 172 value, histogram 172 value,
(binary values, etc.), the position of the peak signal corresponding to the second portion of the fishtail can be determined and detected as a portion where the signal value is high.

The position of the hoop 3 can be detected by subjecting the hoop image extracted in advance to image processing similar to the edge image processing of the fishtail 2 (■ in FIG. 3). However, in this case, the distribution diagram of the two short signals is in the axial direction of the coil (ie, the plate width direction). Here, the hoop 3 is cut at a predetermined length from the tip of the fishtail 2 in the longitudinal direction of the board.
This is a light that solves the current problem where the hoop 3 interferes with the stepped part of the fishtail 2 when cutting the hoop 3, making it impossible to cut it. Here, in order to detect the position of the hoop 3 (particularly near the cutting position) with higher precision, it is possible to perform similar processing on only the signals near the cutting position.

in the coiled state by the method described hereinabove.

The positions of the fishtail 2 and hoop 3 are detected. Using these positions, the hoop 3 is cut at a position that does not interfere with the fishtail 2. Here, the cutting device is required to cut the hoop at any position on the surface of the coil. For this purpose, a hoop cutting device that is equipped with a hoop cutting device that can move in the axial direction of the coil and a coil rotation device that can rotate the coil to an arbitrary position is effective.

An example of a hoop cutting device having the above functions is shown in FIG. In this example, the hoop 3 can be cut at any position using a general-purpose robot 13 and a clay roll 12 for rotating the coil. What is the cutting position?

The aforementioned fishtail 2 and hoop 3 position detector 1st
The position is determined by the signal detected in Figure a), and the hoop 3 is cut at the specified position by receiving the position as a signal. Note that the hoop 3 cutting hand 12 has a fifth
The structure shown in the figure realizes reliable cutting and is highly reliable due to its simple structure.

To explain this, when the hand 12 is pressed against the surface of the coil 1 to cut the hoop 3, the stopper 15 of the hoop 3 and the tip of the lower blade 16 for cutting are both in close contact with the coil surface, so that the compliance This is done by a freely rotating pin 22 and a spring 21. The hoop 3 is scooped up by closing the lower cutting blade 16, and then is cut by closing the upper cutting blade 17.

Another example of a hoop cutting device for use in practicing the present invention is shown in FIG. This is an example of a coil processing (fishtail, hoop detection, auto-cut) line with similar functionality. As mentioned above, the coil 1 is rotated by the cradle roll type coil rotation device 11, and at the same time image data of the surface of the coil 1 is collected by the television camera 4.
The image processing device 6 calculates and determines a position at which the hoop 3 should be cut. Thereafter, the coil 1 is lifted up by a traveling trolley-type coil transferr 24, and the hoop packet 2
The hoop 3 is transported to a hoop cutting position on the coil 6, and is cut by a hoop cutting machine 25 movable in the axial direction of the coil according to the hoop position instructed by the control device 7. The cut hoop 3 falls into the hoop packet 26. After cutting the hoop, the coil 1 is placed on the cradle roll coil rotating device [11] on the exit side, the coil 1 is rotated, the fishtail 2 is automatically unwound to a certain length, and then the fishtail 2 is cut by the fishtail cutting machine 30. , cut off the fishtail 2 that becomes an obstacle during sheet threading. Thereafter, the coil I is automatically discharged and sent to a process line such as a pickling line.

〔Effect of the invention〕

Hoop 3 and Fishtail 2 can be created using the method described above.
It is possible to automatically cut the hoop 3 of the coil 1 whose position and shape are not constant.

[Brief explanation of drawings]

FIG. 1a is a block diagram showing the configuration of an apparatus for implementing the present invention in one embodiment, and FIG. 1b is a plan view showing the relationship between the illumination device that illuminates the coil 1 shown in FIG. 1a, the coil, and the television camera. It is. FIG. 2 is a perspective view showing one mode of image reading by a television camera when carrying out one mode of the present invention. FIG. 3 is a plan view showing image signals obtained by implementing the present invention in one embodiment, where ■ indicates an image of the coil surface obtained by illuminating the coil from the left, ■ indicates the image of the coil surface obtained from illuminating the coil from the right, The image shown is a composite image after edge enhancement processing for each of ■.
The converted image is shown, ■ is an image where only the coil edge portion of ■ is extracted, ■ is an image where only the fishtail portion of ■ is extracted, ■ is an image where only the hoop portion of ■ is extracted, ■ is a graph showing the step pixel distribution obtained by processing ■ and projecting the number of step pixels in the longitudinal direction of the coil plate, and ■ is a graph obtained by processing ■ and projecting the number of step pixels in the coil axis direction. A graph showing the obtained step pixel distribution is shown. FIG. 4 is a perspective view showing an automatic hoop cutting device used in one embodiment of the present invention, and FIG. 5 is a side view showing the configuration of the hoop cutting hand shown in FIG. 4. FIG. 6 is a side view showing the configuration of an apparatus for carrying out another embodiment of the present invention. East map 18￥jib map Ka1 East map 2 00 ■

Claims (1)

[Claims] Illumination light is applied to the coil diagonally from both the right and left directions, and step images are input to an image input device such as a television camera, and the input images are combined and line drawing processing is performed by an image processor. , further calculates the sum of image points in the vertical and horizontal directions of the image, binarizes it by statistical processing, detects the edge of the hoop and the position of the fishtail in each direction, and calculates the position of the fishtail. An automatic method for cutting a coil binding hoop, characterized in that the hoop is cut by a cutting machine at the edge position of the removed hoop.