TWI663558B - Rolled steel storage system and method of recognizing geometric center of rolled steel - Google Patents

Abstract

A steel coil storage system and a method for identifying the geometric center of a steel coil. The method includes: when a rail of a one-day car component is running, sensing the instant position of the rail, and simultaneously performing two-dimensional scanning of the steel coil below the rail ; Receiving the track position information and the two-dimensional scanning data to create warehouse map data; and identifying the coil shape according to the warehouse map data to obtain the geometric center coordinates of the uppermost coil.

Description

Steel coil storage system and method for identifying geometric center of steel coil

The invention relates to a storage operation system, in particular to a steel coil storage system and a method for identifying the geometric center of a steel coil.

Generally, the types or placement of materials in unmanned storage systems are mostly fixed or known positions. The purpose of unmanned automatic loading and unloading can be achieved only by unifying the loading and unloading conditions of the loaded and unloaded objects.

However, the steel products produced by iron and steel plants, such as steel coils, are different in the steel types, widths, or weight specifications required by customer orders, resulting in significant differences in the external dimensions of steel coils. After the diameter steel coils are stacked, when the upper coils are placed between the lower coils of different sizes, the upper coils may roll to the lower coils. When the upper layer coil is to be hung out of the warehouse, if the previous rolling distance is too large, the unmanned storage system will fail to align the center of the coil or even collide with the coil, which will cause unmanned storage to face Difficult situation of homework.

Therefore, it is necessary to provide a coil storage system and a method for identifying the geometric center of the coil, in order to solve the problems existing in conventional technology.

The main purpose of the present invention is to provide a steel coil storage system and a method for identifying the geometric center of a steel coil, which can know in real time whether the steel coils in the warehouse are shifted due to layer-by-layer stacking, and then can be used to instantly identify existing coils when the shift occurs. The coil placement position is corrected to allow the automated coil storage operation to run accurately.

In order to achieve the above-mentioned object, the present invention provides a steel coil storage system, which includes: a day car assembly for erection above a steel coil placement area, which includes a rail and a day car, and the rail is controlled along X Axis direction movement; the crane is controlled to move along the track in the Y-axis direction; a positioning sensor that senses the movement position of the track in the X-axis direction; at least one two-dimensional scanner, installed in A two-dimensional object scan is performed at the bottom of the rail toward the direction of the rail's extension and below the rail; a data collection module is connected to the positioning sensor and the two-dimensional scanner to receive the rail And the two-dimensional scanning data of the two-dimensional scanner to construct three-dimensional warehouse map data; a geometric identification module connected to the data collection module to identify the steel coil based on the warehouse map data The geometric center of the uppermost steel coil in the display area; and a storage control system connected to the geometric identification module to determine whether the uppermost steel coil is based on the geometric center of the uppermost steel coil identified by the geometric identification module Appear in Shift.

In one embodiment of the present invention, the storage control system records the placement coordinates of each layer of steel coils in the steel coil placement area, and compares the geometric center of the uppermost steel coil with the The recorded coordinates of the uppermost steel coils are compared to determine whether the uppermost steel coils are out of position.

In one embodiment of the present invention, when the warehouse control system judges that the position of the uppermost steel coil is shifted, the operation of the crane component is suspended and a warning is issued.

In an embodiment of the present invention, the crane module further includes two parallel slide rails, the The extending direction of the two parallel slide rails is perpendicular to the vehicle rail; the vehicle rail is straddled on the two parallel slide rails, and then controlled to move along the two parallel slide rails in the X-axis direction.

In one embodiment of the present invention, the crane module further includes a pawl, which is 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 aforementioned steel coil storage system. The steel coil geometric center identification method includes: sensing a real-time position of a rail of a vehicle component when the rail of the vehicle runs in a day, and At the same time, two-dimensional scanning of the steel coil under the rail is performed; receiving the rail position information and the two-dimensional scanning data to create warehouse map data; and identifying the coil shape based on the warehouse map data to obtain the geometric center of the uppermost coil coordinate.

In an embodiment of the present invention, the method for identifying the geometric center of the steel coil further includes: determining whether the position of the uppermost coil is offset according to the obtained geometric center coordinates of the uppermost coil.

In one embodiment of the present invention, when it is determined that the position of the uppermost steel coil is shifted, the method for identifying the geometric center of the steel coil further includes: stopping the crane operation and transmitting a warning signal.

In an embodiment of the present invention, the step of identifying the shape of the steel coil based on the received data and obtaining the geometric center coordinates of the uppermost steel coil includes: judging whether the object is a steel coil according to whether the top-view appearance of the object is rectangular; identifying the outer diameter of the object Whether it conforms to the outer diameter range of the coil; exclude the uppermost coil from the outer diameter identification result of the object; identify the geometric center of the uppermost coil in the horizontal direction; and calculate the three-dimensional geometric center of the uppermost coil.

1‧‧‧Overhead components

10‧‧‧rail

11‧‧‧Skycar

12‧‧‧ Parallel slide

13‧‧‧Claw

2‧‧‧Positioning sensor

3‧‧‧ 2D scanner

4‧‧‧Data Collection Module

5‧‧‧Geometric Recognition Module

6‧‧‧Warehouse Control System

7‧‧‧ steel coil

S01 ~ S05‧‧‧step

S501 ~ S505‧‧‧step

FIG. 1 is a schematic diagram of an apparatus of a preferred embodiment of a coil storage system of the present invention.

FIG. 2 is a schematic diagram of a preferred embodiment of warehouse map data constructed by the data collection module of the steel coil storage system of the present invention.

FIG. 3 is a flowchart of a preferred embodiment of the method for identifying the geometric center of a steel coil according to the present invention.

FIG. 4 is a detailed flowchart of 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 according to the present invention.

In order to make the above and other objects, features, and advantages of the present invention more comprehensible, the following describes the preferred embodiments of the present invention and the accompanying drawings in detail, as follows.

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

The crane module 1 is configured to be mounted above a steel coil placement area, and mainly includes a rail 10 and a day crane 11. As shown in FIG. 1, the rail 10 is controlled to move in the X-axis direction; the overhead crane 11 is controlled to move in the Y-axis direction along the rail 10. The crane module 1 further includes two parallel slide rails 12, and the extending direction of the two parallel slide rails 12 is perpendicular to the rails 10. The rail 10 is straddled on the two parallel slide rails 12 and is controlled along the parallel rails 12. The two parallel slide rails 12 move in the X-axis direction. The crane assembly 1 further includes a pawl 13 connected to the crane 11 and used to clamp 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 a two-dimensional object toward the extending direction of the rail 10 (that is, the Y-axis direction) and below the rail 10 (that is, the Z-axis direction). scanning. In this embodiment, a two-dimensional scanner 3 is provided on each side of the bottom center of the rail 10, so as to comprehensively scan all steel coils under the rail 10. In one embodiment, the two-dimensional scanner 3 may be a laser scanner, but its scanning technology 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 rail 10 and the two-dimensional scanning data of the two-dimensional scanner 3. Because the extending direction of the rail 10 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. Therefore, when the rail 10 is at When moving in the X-axis direction, the positioning information of the track 10 moving in the X-axis direction is combined with two-dimensional scanning data, and the data collection module 4 can build the data into a three-dimensional warehouse map data. , As shown in Figure 2.

The geometric identification module 5 is connected to the data collection module 4 to identify the geometric center of the uppermost steel coil in the steel coil placement area based on the warehouse map data provided by the data collection module 4. In addition, because the installation of the above-mentioned two-dimensional scanner 3 cannot guarantee that it is horizontal or vertical to the direction of travel of the ground or the crane, the initial identification result of the geometric center of the coil must be zeroed with a known center coordinate of the coil Calibration. After obtaining the coordinate angle between the two and the zero point interpolation, the coordinate system of the scanning system and the crane coordinate system can be unified. And because the installation conditions of each two-dimensional scanner are different, one-by-one calibration needs to be performed for each two-dimensional scanner in order to transfer all the scanning coordinate systems to the crane 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 identified by the geometric identification module 5. Offset. In this embodiment, the storage control system 6 records the placement coordinates of each layer of steel coils in the steel coil placement area, and records the geometric center and recorded data of the uppermost steel coil obtained by the geometric identification module 5. The coordinates of the uppermost steel coils are compared to determine whether the uppermost steel coils are out of position. In a preferred embodiment, when the warehouse control system 6 judges that the position of the uppermost steel coil has shifted, it further stops the operation of the crane module 1 and issues a warning to remind the personnel that the position of the coil is shifted. Must be corrected.

In this way, according to the present invention, the steel coil storage system can immediately know whether the steel coils in the warehouse are shifted due to layer-by-layer stacking, and can further correct the lifting position of the crane component when the shift occurs. In order to make the automated coil storage operation run accurately.

Please refer to FIG. 3, which is a flowchart of a preferred embodiment of the method for identifying the geometric center of a steel coil according to the present invention. The present invention also provides a method for identifying the geometric center of a steel coil, which is performed by the aforementioned steel coil storage system. The method for identifying the geometric center of a steel coil includes: Step S01: when the track 10 of a one-day car component 1 is running, sensing the The real-time position of the rail 10 and the two-dimensional scanning of the steel coil under the rail 10 at the same time; specifically, the above-mentioned positioning sensor 2 senses the instant position of the rail 10 in the X-axis direction Scan the two-dimensional object with the two-dimensional scanner 3 toward the extending direction of the rail 10 (ie, the Y-axis direction) and below the rail 10 (that is, the Z-axis direction); Step S02: receiving the position of the rail 10 Information and the two-dimensional scanning data to create warehouse map data; specifically, after the data collection module 4 receives the moving position data of the rail 10 and the two-dimensional scanning data of the two-dimensional scanner 3, Constructing these data into a three-dimensional warehouse map data; and step S03: identifying the shape of the steel coil according to the warehouse map data to obtain the uppermost steel Coordinates of the geometric center of the coil; specifically, the geometric identification module 5 identifies the geometric center of the uppermost coil in the coil placement area based on the warehouse map data provided by the data collection module 4. .

After the coordinates of the geometric center of the uppermost steel coil in the coil placement area are identified, the method for identifying the geometric center of the steel coil of the present invention may further include: Step S04: judging according to the obtained geometric center coordinates of the uppermost steel coil Whether the position of the uppermost coil is shifted; specifically, the geometrical center of the uppermost coil obtained by the geometrical identification module 5 by the storage control system 6 and the recorded uppermost coil are placed. The coordinates are compared to determine whether the position of the uppermost steel coil has shifted.

In order to respond to the situation where the position of the uppermost coil is shifted, the method for identifying the geometric center of the coil of the present invention may further include: Step S05: When it is determined that the position of the uppermost coil is shifted, the method further includes: stopping the crane module 1 Run and send a warning signal. The warning signal may include the specific position of the uppermost steel coil that is shifted, so that relevant personnel can immediately correct the lifting work of the crane module 1 after receiving the warning signal, so as to prevent the claws from failing to align with the steel. The center of the coil, or even a collision with a steel coil, occurs.

Please refer to FIG. 4. The above step S05 may specifically include the following steps: Step S501: Determine whether it is a steel coil according to whether the object's top view is rectangular; because the steel coil itself is a cylinder, its top view is rectangular, so, You can exclude the non-rectangular non-steel coil object in the top view first; step S502: identify whether the outer diameter of the object conforms to the outer diameter range of the coil; this is because the size of the coil in the current warehouse is recorded, this step can further Non-steel coil objects whose top is regarded as a rectangle but whose size does not conform to the recorded outer diameter range of the coil are excluded; Step S503: Excluding the uppermost steel coil according to the outer diameter recognition result of the object; this step is to determine whether it is the uppermost steel coil by scanning the arc size displayed on the side of the coil, where the arc angle range is less than one The default value indicates that it is a bottom coil or a non-top coil that is covered by the top coil; it cannot be lifted because the non-top coil is held down, so this step excludes the non-top coil It can avoid the roll-up and impact accidents of the overhead crane module 1 forcibly lifting; step S504: identify the geometric center of the uppermost steel coil in the horizontal direction; this step is to first obtain its geometric center from the rectangular appearance of the top view. Horizontal coordinates; and step S505: calculating the three-dimensional geometric center of the uppermost steel coil; this step is to identify the center of the circular arc of the steel coil, and then combine the arc center with the above-mentioned horizontal coordinates to obtain the three-dimensional 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 warehouse map of steel coils by using a positioning sensor and a two-dimensional scanner, and then obtains the uppermost steel through the identification of the geometric recognition module. The three-dimensional geometric center of the coil is finally compared with the recorded steel coil coordinates, and it can be immediately known whether the steel coils in the warehouse are shifted due to layer-by-layer stacking, and then the crane components can be instantly detected when the shift occurs. The lifting position is calibrated so that the automated coil storage operation can run accurately.

Claims (8)

A steel coil storage system includes: a one-day vehicle component for mounting above a steel coil placement area, which includes a rail and a day vehicle, the rail is controlled to move in the X-axis direction; Move along the track in the Y-axis direction; a positioning sensor that senses the movement of the track in the X-axis direction; at least one two-dimensional scanner that is set at the bottom of the track to face the car The extension direction of the rail and the two-dimensional object scanning under the rail; a data collection module connected to the positioning sensor and the two-dimensional scanner to receive the moving position data of the rail and the two-dimensional scanning Scanner ’s two-dimensional scanning data to construct three-dimensional warehouse map data; a geometric identification module connected to the data collection module to identify the uppermost steel coil in the steel coil placement area based on the warehouse map data And a warehouse control system connected to the geometric identification module to determine whether the position of the uppermost steel coil is shifted according to the geometric center of the uppermost steel coil identified by the geometric identification module. The steel coil storage system as described in item 1 of the scope of the patent application, wherein the storage control system records the placement coordinates 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 steel coil is compared with the recorded coordinates of the uppermost steel coil to determine whether the uppermost steel coil is out of position. The steel coil storage system according to item 2 of the scope of patent application, wherein the storage control system stops the operation of the crane module and issues a warning when it judges that the position of the uppermost steel coil has shifted. The steel coil storage system according to item 1 of the scope of patent application, wherein the crane module further includes two parallel slide rails, and the extending direction of the two parallel slide rails is perpendicular to the rails; the rails are located across the two rails. The parallel slide rails are controlled to move along the two parallel slide rails in the X-axis direction. The steel coil storage system according to item 1 of the scope of patent application, wherein the crane component further includes a pawl 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 executed by a steel coil storage system according to any one of claims 1 to 5. The steel coil geometric center identification method includes: Real-time position of the rail, and simultaneously perform two-dimensional scanning of the steel coil below the rail; receive the position information of the rail and the two-dimensional scanning data to create storage map data; and identify the shape of the steel coil based on the storage map data to obtain The geometric center coordinates of the uppermost coil are determined based on the obtained geometric center coordinates of the uppermost coil. The method for identifying the geometric center of a steel coil as described in item 6 of the scope of the patent application, wherein when judging that the position of the uppermost steel coil is shifted, the method further includes: stopping the operation of the crane module and transmitting a warning signal. The method for identifying the geometric center of a steel coil according to item 6 of the scope of the patent application, wherein the step of identifying the shape of the steel coil based on the storage map data to obtain the geometric center coordinates of the uppermost steel coil includes: determining whether the appearance of the coil is rectangular according to the top view of the object Determine whether it is a steel coil; identify whether the outer diameter of the object conforms to the outer diameter range of the coil; exclude the uppermost steel coil according to the outer diameter identification result of the object; identify the geometric center of the uppermost steel coil in the horizontal direction; and calculate the uppermost steel coil 3D geometric center.