TW201928809A - Rolled steel storage system and method of recognizing geometric center of rolled steel - Google Patents

Abstract

A rolled steel storage system and a method of recognizing geometric center of rolled steel are disclosed. The method includes: sensing a real-time position of a rail of a gantry crane and performing two-dimensional scanning onto rolled steels under the rail when the rail is moving; receiving position data of the rail and scanning data of the two-dimensional scanning to create a storage map data; and recognizing outlines of the rolled steels according to the storage map data and obtaining geometric center coordinates of uppermost rolled steels.

Description

Steel coil storage system and steel coil geometric center identification method

The present invention relates to a warehousing operation system, and more particularly to a steel coil storage system and a steel coil geometric center identification method.

Generally, the material types or placement positions in the unmanned storage system are mostly fixed or known positions. After unifying the loading conditions of the loaded objects, the unmanned automatic loading and unloading can be achieved.

However, steel products produced by steel mills, such as steel coils, vary in steel grade, width or weight specifications required by customer orders, resulting in differences in the dimensions of steel coils, and the use of stacked storage for steel coil storage is different. After the steel coils of the diameter are stacked, when the upper steel coil is placed between the steel coils of different sizes, the upper steel coil may roll down to the lower steel coil. When the upper coil is to be hung out of the warehouse, if the previous rolling distance is too large, the unmanned storage system will not be able to align the claws with the center of the coil, or even collide with the coil, so that the unmanned storage faces Difficulties in homework.

Therefore, it is necessary to provide a steel coil storage system and a steel coil geometric center identification method to solve the problems of the conventional technology.

The main object of the present invention is to provide a steel coil storage system and a steel coil geometric center identification method, which can instantly know whether the steel coil in the storage is offset due to layer stacking, and thus can instantly exist when the offset occurs. The coil placement is calibrated to allow automated coil storage operations to operate accurately.

To achieve the above object, the present invention provides a steel coil storage system comprising: a one-day vehicle assembly for erecting above a steel coil placement area, which includes a rail and a one-day vehicle, the rail is controlled along the X Moving in the axial direction; the crane is controlled to move along the rail in the Y-axis direction; a positioning sensor senses the moving position of the rail in the X-axis direction; at least one two-dimensional scanner is disposed on At the bottom of the rail, two-dimensional object scanning is performed toward the extending direction of the rail and below the rail; a data collecting module is connected to the positioning sensor and the two-dimensional scanner to receive the rail The moving position data and the two-dimensional scanning data of the two-dimensional scanner, thereby constructing a three-dimensional storage map data; a geometric identification module is connected to the data collection module for identifying the steel coil according to the storage map data a geometric center of the uppermost steel coil in the placement area; and a storage control system coupled to the geometric identification module for determining whether the uppermost steel coil is based on the geometric center of the uppermost steel coil identified by the geometric identification module Appearance position Shift.

In an embodiment of the present invention, the storage control system records the placement coordinates of the steel coils in the steel coil placement area, and the geometric center of the uppermost steel coil obtained by the geometric identification module has been The recorded coordinates of the uppermost steel coil of the record are compared to determine whether the uppermost steel coil is displaced.

In an embodiment of the invention, the warehouse control system suspends operation of the crane assembly and issues an alert when determining the positional offset of the uppermost coil.

In an embodiment of the invention, the crane assembly further includes two parallel slide rails, The two parallel slide rails extend in a direction perpendicular to the rail; the rail system is spanned on the two parallel slide rails, and is controlled to move along the two parallel slide rails in the X-axis direction.

In an embodiment of the invention, the crane assembly further includes a hanging claw connected to the crane and used to clamp a steel coil in the steel coil placement area.

The invention also provides a steel coil geometric center identification method, which is executed by the steel coil storage system, and the steel coil geometric center identification method comprises: sensing the instantaneous position of the rail when the vehicle component of the vehicle is running, and At the same time, the steel coil under the track is scanned two-dimensionally; the track position information and the two-dimensional scan data are received, and the warehouse map data is established; and the shape of the steel coil is identified according to the warehouse map data to obtain the geometric center of the uppermost steel coil. coordinate.

In an embodiment of the invention, the method for identifying the geometric center of the steel coil further comprises: determining whether an offset of the position of the uppermost coil is based on the geometric center coordinates of the obtained uppermost coil.

In an embodiment of the present invention, when determining the offset of the position of the uppermost coil, the method for identifying the geometric center of the coil further comprises: suspending the operation of the crane and transmitting a warning signal.

In an embodiment of the present invention, the step of identifying the geometric shape of the steel coil according to the received data and obtaining the geometric center coordinates of the uppermost steel coil includes: determining whether the steel coil is based on whether the appearance of the object is a rectangle; identifying the outer diameter of the object Whether it conforms to the outer diameter range of the steel coil; the uppermost steel coil is removed according to the identification result of the outer diameter of the object; the geometric center of the uppermost steel coil is identified in the horizontal direction; and the three-dimensional geometric center of the uppermost steel coil is calculated.

1‧‧‧Tianjia components

10‧‧‧ Tracks

11‧‧‧天车

12‧‧‧Parallel rails

13‧‧‧Claws

2‧‧‧ Positioning Sensor

3‧‧‧2D Scanner

4‧‧‧ Data Collection Module

5‧‧‧Geometry Identification Module

6‧‧‧Warehouse Control System

7‧‧‧Steel coil

S01~S05‧‧‧Steps

S501~S505‧‧‧Steps

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a schematic view of a preferred embodiment of a steel coil storage system of the present invention.

Fig. 2 is a schematic view showing a preferred embodiment of the storage map data constructed by the data collection module of the steel coil storage system of the present invention.

Figure 3 is a flow chart of a preferred embodiment of the method for identifying the geometric center of a steel coil of the present invention.

Fig. 4 is a detailed flow chart showing the steps of identifying the shape of the steel coil according to the received data and obtaining the geometric center coordinates of the uppermost steel coil in the method for identifying the geometric center of the steel coil of the present invention.

The above and other objects, features and advantages of the present invention will become more <RTIgt;

Please refer to FIG. 1 , which is a schematic view of a device of a preferred embodiment of the steel coil storage system of the present invention. The steel coil storage system of the present invention mainly comprises a one-day vehicle component 1, a positioning sensor 2, at least one two-dimensional scanner 3, a data collection module 4, a geometric recognition module 5 and a storage control system 6.

The crown assembly 1 is disposed above a steel coil placement area, and mainly includes a rail 10 and a one-day vehicle 11. As shown in Fig. 1, the rail 10 is controlled to move in the X-axis direction; the crane 11 is controlled to move in the Y-axis direction along the rail 10. The crane assembly 1 further includes two parallel slide rails 12 extending in a direction perpendicular to the rail 10; the rail 10 is straddle the two parallel slide rails 12, and is controlled along the rail assembly 10 The two parallel slide rails 12 are moved in the X-axis direction. The crane assembly 1 further includes a hanging claw 13 which is coupled to the crane 11 and is used to grip a steel coil 7 in the steel coil placement area.

The positioning sensor 2 is used to sense the moving position of the rail 10 in the X-axis direction.

The at least one two-dimensional scanner 3 is disposed at the bottom of the rail 10 to perform two-dimensional objects toward the extending direction of the rail 10 (ie, the Y-axis direction) and below the rail 10 (ie, the Z-axis direction). scanning. In this embodiment, a two-dimensional scanner 3 is respectively disposed on both sides of the bottom center of the rail 10 to comprehensively scan all the steel coils below the rail 10. In an embodiment, the two-dimensional scanner 3 may be a laser scanner, but the scanning technique is not limited thereto.

The data collection module 4 is connected to the positioning sensor 2 and the two-dimensional scanner 3 to receive the moving position data of the track 10 and the two-dimensional scanning data of the two-dimensional scanner 3. Since the direction in which the rail 10 extends is the Y-axis direction, the vertical direction below the rail 10 is the Z-axis direction, and the moving direction of the rail 10 itself is the X-axis direction, when the rail 10 is in the When moving in the X-axis direction, the positioning information of the track 10 moving in the X-axis direction is combined with the two-dimensional scanning data, and the data collecting module 4 can construct the three-dimensional storage map data. As shown in Figure 2.

The geometric recognition module 5 is connected to the data collection module 4 for identifying the geometric center of the uppermost steel coil in the steel coil placement area according to the storage map data provided by the data collection module 4. In addition, since the installation of the above-mentioned two-dimensional scanner 3 cannot guarantee the horizontal or vertical direction of the ground or the traveling direction of the overhead crane, the initial geometric center identification result of the steel coil must be zero-corrected with a known steel coil center coordinate. Calibration, after obtaining the coordinate angle between the two and the zero point interpolation, the coordinate system of the scanning system can be unified with the coordinate system of the crane. Since each two-dimensional scanner is installed differently, it is necessary to calibrate each two-dimensional scanner one by one to transfer all scanning coordinate systems to the coordinate system.

The storage control system 6 is connected to the geometric identification module 5 for determining whether the uppermost steel coil is in position according to the geometric center of the uppermost steel coil recognized by the geometric identification module 5 Set the offset. In this embodiment, the storage control system 6 records the placement coordinates of the steel coils in the steel coil placement area, and records the geometric center of the uppermost steel coil obtained by the geometric identification module 5 with the recorded The alignment coordinates of the uppermost steel coil are compared to determine whether the uppermost steel coil has a positional offset. In a preferred embodiment, the storage control system 6 further suspends the operation of the crane assembly 1 and issues a warning to determine the positional deviation of the steel coil when determining the positional deviation of the uppermost steel coil. Must be corrected.

In this way, the present invention can immediately know whether the steel coil in the storage is offset by the layer stacking by the above-mentioned steel coil storage system, thereby being able to correct the lifting position of the crown assembly immediately when the offset occurs. In order to make automated steel coil storage operations run accurately.

Please refer to FIG. 3, which is a flow chart of a preferred embodiment of the steel coil geometric center identification method of the present invention. The invention also provides a steel coil geometric center identification method, which is executed by the steel coil storage system described above, and the steel coil geometric center identification method comprises: step S01: sensing when the vehicle rail 10 of the one-day vehicle component 1 is running The instantaneous position of the rail 10 and the two-dimensional scanning of the steel coil below the rail 10; in particular, the position sensor 4 senses the instantaneous position of the rail 10 in the X-axis direction. Two-dimensional object scanning is performed with the two-dimensional scanner 3 toward the extending direction of the rail 10 (ie, the Y-axis direction) and below the rail 10 (ie, the Z-axis direction); Step S02: receiving the position of the rail 10 The information and the two-dimensional scanning data are used to establish the warehousing map data; specifically, after the data collecting module 4 receives the moving position data of the rail 10 and the two-dimensional scanning data of the two-dimensional scanner 3, The data is constructed into a three-dimensional storage map data; and step S03: identifying the shape of the steel coil according to the storage map data, and obtaining the uppermost steel layer The geometric center coordinates of the volume; in particular, the geometric identification module 5 according to the storage map data provided by the data collection module 4, identifying the geometric center of the uppermost steel coil in the steel coil placement area .

After identifying the coordinates of the geometric center of the uppermost steel coil in the steel coil placement area, the method for identifying the geometric center of the steel coil of the present invention may further include: Step S04: judging according to the geometric center coordinates of the obtained uppermost steel coil Whether the position of the uppermost steel coil is offset; in particular, the geometric center of the uppermost steel coil obtained by the geometric recognition module 5 and the recorded uppermost steel coil are placed by the storage control system 6 The coordinates are compared to determine if the topmost coil has a positional offset.

The method for identifying the geometric center of the steel coil of the present invention may further include: Step S05: When determining that the position of the uppermost coil is offset, further comprising: suspending the crane assembly 1 Run and send a warning signal. The warning signal may include the specific position of the uppermost steel coil in which the offset occurs, so as to facilitate the relevant personnel to correct the lifting work of the crane assembly 1 immediately after receiving the warning signal, thereby preventing the hanging claw from being aligned with the steel. The center of the roll, or even the collision with the coil.

Referring to FIG. 4, the above step S05 may specifically include the following steps: Step S501: determining whether the steel roll is based on whether the top view of the object is a rectangle; since the steel roll itself is a cylinder, the top view is rectangular, and therefore, The non-circular non-steel object having the appearance of the top view direction may be excluded first; step S502: identifying whether the outer diameter of the object conforms to the outer diameter range of the steel coil; since the size of the steel coil in the current storage is recorded, this step may further The top is considered to be a rectangle, but non-steel objects that do not meet the outer diameter of the recorded steel coil are excluded; Step S503: according to the identification result of the outer diameter of the object, the uppermost steel coil is removed; this step is to determine whether it is the uppermost steel coil by scanning the arc shape of the steel coil on the side, wherein if the arc angle range is lower than one The preset value means that it is the bottom steel coil or the non-top steel coil which is covered by the top steel coil; since the non-upper steel coil is pressed, it cannot be lifted, so this step excludes the non-upper steel coil. The steel roll rolling and impact accident may be avoided by forcibly lifting the crane assembly 1; step S504: identifying the geometric center of the uppermost steel coil in the horizontal direction; this step first obtains the geometric center from the rectangular appearance of the top view a horizontal coordinate; and step S505: calculating a three-dimensional geometric center of the uppermost steel coil; this step is to identify the circular arc center and the horizontal coordinate by the lateral center of the steel coil, thereby obtaining the three-dimensional shape of the steel coil The coordinates of the geometric center.

In summary, compared with the prior art, the steel coil storage system of the present invention establishes a three-dimensional storage map data of a steel coil by using a position sensor and a two-dimensional scanner, and then obtains the uppermost layer steel by the identification of the geometric identification module. The three-dimensional geometric center of the volume, and finally compared with the recorded steel coil coordinates, can instantly know whether the steel coil in the warehouse is offset due to the layer stacking, so that the crane assembly can be instantly applied when the offset occurs. The lifting position is calibrated to allow automated steel coil storage operations to operate accurately.

Claims (9)

A steel coil storage system comprising: a one-day vehicle assembly for erecting above a steel coil placement area, comprising a rail and a one-day vehicle, the rail being controlled to move along the X-axis; the crane controlled Moving along the rail in the Y-axis direction; a positioning sensor senses the moving position of the rail in the X-axis direction; at least one two-dimensional scanner is disposed at the bottom of the rail to face the vehicle a direction of the rail and a two-dimensional object scanning under the rail; a data collection module is connected to the positioning sensor and the two-dimensional scanner to receive the moving position data of the rail and the two-dimensional scanning The two-dimensional scanning data of the instrument further constructs a three-dimensional storage map data; a geometric identification module is connected to the data collection module for identifying the uppermost steel coil in the steel coil placement area according to the storage map data a geometric center; and a storage control system coupled to the geometric identification module for determining whether a positional offset of the uppermost steel coil occurs based on a geometric center of the uppermost steel coil identified by the geometric identification module. The steel coil storage system of claim 1, wherein the storage control system records a coordinate of each layer of steel coils in the steel coil placement area, and the uppermost layer obtained by the geometric identification module The geometric center of the coil is compared with the placed coordinates of the recorded uppermost coil to determine if the uppermost coil has a positional offset. The steel coil storage system according to claim 2, wherein the storage control system suspends operation of the crane component when determining a positional deviation of the uppermost steel coil And issued a warning. The steel coil storage system of claim 1, wherein the crane assembly further comprises two parallel slide rails, the two parallel slide rails extending in a direction perpendicular to the rail; the rail system is spanned on the two rails Parallel slides are then controlled to move along the two parallel slides in the X-axis direction. The steel coil storage system of claim 1, wherein the crane assembly further comprises a hanging claw connected to the crane and used to clamp a steel coil in the steel coil placement area. . A steel coil geometric center identification method is performed by the steel coil storage system according to any one of claims 1 to 5, wherein the steel coil geometric center identification method comprises: sensing when the vehicle component of the one-day vehicle component is running The instantaneous position of the rail and the two-dimensional scanning of the steel coil under the rail; receiving the rail position information and the two-dimensional scanning data, establishing the warehouse map data; and identifying the steel coil shape according to the warehouse map data The geometric center coordinates of the uppermost steel coil. The steel coil geometric center identification method according to claim 6 , further comprising: determining whether the position of the uppermost steel coil is offset according to the geometric center coordinates of the obtained uppermost steel coil. The method for identifying a geometric center of a steel coil according to the seventh aspect of the invention, wherein when determining the offset of the position of the uppermost coil, the method further comprises: suspending operation of the crane assembly and transmitting a warning signal. For example, the method for identifying the geometric center of a steel coil according to item 6 of the patent application scope, wherein the step of identifying the shape of the steel coil according to the storage map data, and obtaining the geometric center coordinates of the uppermost steel coil includes: according to whether the appearance of the top view of the object is a rectangle Determine whether it is a steel coil; identify whether the outer diameter of the object conforms to the outer diameter of the steel coil; remove the uppermost steel coil according to the identification result of the outer diameter of the object; identify the geometric center of the uppermost steel coil in the horizontal direction; and calculate the uppermost steel coil The center of the 3D geometry.