JP5740938B2 - Coil alignment confirmation device and coil alignment confirmation method - Google Patents

Description

  The present invention relates to a coil alignment confirmation device and a coil alignment confirmation method for determining whether or not the center positioning (alignment) of a steel sheet coil is normally performed when the steel sheet coil is inserted into a reel.

  In the iron and steel industry, in order to process a coil obtained by winding a steel sheet into a roll (pickling, rolling, plating, etc.), there is always a process of inserting and engaging the coil with a reel provided on the entrance side of the facility. In recent years, automation of this work has progressed. That is, a system is employed in which the coil is transferred by the coil carriage and automatically centered so that the center of the inner diameter of the coil and the center of the reel are matched.

For example, there is a technique described in Patent Document 1 for performing automatic alignment of coils. In this technique, the alignment position of the coil is detected from the outer shape of the coil, and the lifter on which the coil is placed is moved up and down to perform alignment in the height direction of the coil.
Normally, the center position in the horizontal direction on the end face side of the coil placed on the lifter of the coil carriage is handled as being coincident with the center position in the width direction of the coil carriage, so the coil is aligned only in the height direction. In general, centering in the horizontal direction on the end face side of the coil is not performed. Therefore, it is common to confirm a positional shift only in the height direction for final alignment confirmation.

  As the final height confirmation, there is one that confirms the inner diameter position of the coil using a movable inner diameter detection sensor. The movable inner diameter detection sensor is composed of an optical sensor (light projector and light receiver) disposed opposite to each other across the coil in the width direction of the coil, and a movable arm such as an arm for moving the optical sensor in a certain direction (height direction). The inner diameter position of the coil is detected by detecting that the light from the projector is received by the light receiver through the inner diameter of the coil.

JP-A-48-95967

  By the way, the coil stand (skid) used when placing the coil on the coil carriage may be deformed, mechanically loosened, increased in uneven wear, It may be tilted by mixing. In this case, a center position shift other than the coil height direction occurs. Therefore, proper alignment cannot be performed if the alignment is performed only in the height direction of the coil as in the conventional device. In addition, correct alignment confirmation cannot be performed if a positional deviation only in the height direction is detected as final alignment confirmation.

Moreover, since the movable coil inner diameter detection sensor needs to install an optical sensor and a movable part for moving the optical sensor on both sides in the width direction of the coil, an installation space larger than the maximum width of the coil is required. ineffective. Furthermore, maintenance (greasing etc.) of a movable part is also required.
Therefore, the present invention provides a coil alignment confirmation device and a coil alignment confirmation method that can appropriately confirm whether or not the alignment of a steel sheet coil is correctly performed without deteriorating space efficiency. The challenge is to do.

In order to solve the above-mentioned problems, a coil alignment confirmation device according to the present invention is a coil alignment confirmation device for confirming alignment of a steel sheet coil inserted into a reel, and before being inserted into a reel. A coil end face position is set at a position where the inner diameter of the steel sheet coil and the end face of the reel are simultaneously accommodated within the field of view, and the end face of the steel sheet coil is located at the coil end face position. as predetermined imaging position when located, the end surface of the steel sheet coil in the predetermined imaging position before the reel inserted the imaging surface, imaging the axial direction of the steel sheet coil on the opposite side to the said imaging surface the reel And a center-to-center distance that calculates a center-to-center distance that is a distance between the center of the inner diameter of the steel sheet coil and the center of the reel on the image based on the image captured by the image capturing unit A calculation unit, when the distance between the centers calculated by the center distance calculating means is outside the allowable range, is characterized in that it comprises a determining means for determining that the alignment abnormality of the steel coil.

  Thus, since the center distance is calculated using image processing, it is possible to compare the difference between the center position of the inner diameter of the steel plate coil and the center position of the reel in a two-dimensional direction. Therefore, even if the inner diameter center of the steel sheet coil is shifted in any direction with respect to the center of the reel, this can be detected reliably. Therefore, if the center-to-center distance exceeds the preset tolerance (out of the tolerance), it can be determined that the steel sheet coil is not properly aligned. Can be performed appropriately. In addition, since it is only necessary to install an imaging means such as a camera for imaging the end face of the steel sheet coil on one side in the coil width direction, space efficiency can be improved as compared with a conventional movable inner diameter detection sensor. .

Moreover, in the above, when the determination means determines that the alignment of the steel sheet coil is abnormal, it is characterized by comprising notification means for notifying the operator of this.
Thereby, when the alignment abnormality has occurred, the operator can easily recognize this. Therefore, the subsequent adjustment work of the coil center position can be performed quickly.

Further, in the above, when the determination means determines that the alignment of the steel sheet coil is abnormal, the automatic charging is prohibited with respect to the automatic coil charging apparatus that automatically loads the steel sheet coil into the reel. A charging prohibition command output means for outputting a command signal is provided.
As a result, it is possible to prevent the coil insertion operation from continuing even though the alignment abnormality has occurred. Therefore, it is possible to reliably avoid a situation where the reel interferes with the steel plate coil during insertion and the steel plate coil falls from the coil carriage.

Furthermore, in the above, the imaging position is set such that the distance between the imaging means and the imaging surface of the steel sheet coil is always constant.
Thereby, when conveying a steel plate coil to the reel side using a coil carriage, the position of the coil carriage at the time of imaging is changed according to the coil width. Therefore, irrespective of the coil width, the size of the inner diameter of the steel plate coil viewed from the imaging means can be always constant. Therefore, the inner diameter can be easily and appropriately detected when the inner diameter of the steel sheet coil is detected by performing edge processing, pattern recognition processing, or the like on the captured image. Therefore, erroneous determination in alignment confirmation can be suppressed.

Furthermore, the coil alignment confirmation method according to the present invention is a coil alignment confirmation method for performing alignment confirmation of a steel sheet coil inserted into a reel, and sandwiches the steel sheet coil before being inserted into a reel. An image pickup means is disposed opposite to the reel, a coil end face position is set at a position where the inner diameter of the steel sheet coil and the end face of the reel are simultaneously accommodated within the field of view of the image pickup means, and the end face of the steel sheet coil is located at the coil end face position. as predetermined imaging position when but located, from the end face of the steel plate coils and the imaging surface, the axial direction of the steel sheet coil on the opposite side to the said imaging surface the reel at the predetermined imaging position before the reel insertion A step of imaging, a step of calculating a center-to-center distance that is a distance between the center of the inner diameter of the steel sheet coil and the center of the reel on the image based on the captured image; When serial center distance is out of the allowable range, is characterized by comprising the steps of: determining that the alignment abnormality of the steel coil.
Thus, since the center-to-center distance is calculated using image processing, even if the inner diameter center of the steel plate coil is shifted in any direction with respect to the center of the reel, this is surely detected, and the steel plate coil is detected. It is possible to provide a coil alignment confirmation method capable of appropriately performing the alignment confirmation.

  According to the present invention, image processing is used to detect the inner diameter center position of the steel sheet coil, and distance determination of the center position by image processing is used for alignment confirmation. It becomes possible to compare by direction. Therefore, it is possible to appropriately detect the center position deviation other than the height direction (vertical direction) of the steel plate coil. Therefore, it is possible to appropriately confirm whether or not the coil is properly aligned without deteriorating the space efficiency.

It is a side view which shows the structure of coil conveyance equipment. It is a flowchart which shows the alignment confirmation processing procedure performed with a controller. It is a figure which shows the state at the time of alignment abnormality.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
(Constitution)
FIG. 1 is a diagram showing a schematic configuration of a coil conveyance facility equipped with a coil alignment confirmation device according to the present invention.
Reference numeral 10 in the figure denotes a coil conveyance facility. The coil conveying equipment 10 is used for various processing lines by unwinding a steel plate coil 1 (hereinafter simply referred to as a coil 1) when performing a pickling process, a rolling process, a plating process, or the like on a steel sheet wound in a coil shape. This is an automatic coil loading device for automatically loading the coil 1 into a dispensing reel 2 (hereinafter simply referred to as a reel 2) provided on the entry side of the line.

  The coil conveyance facility 10 includes a coil carriage 11 that conveys the coil 1 to the reel 2 side by traveling on a traveling rail that extends in the axial direction of the reel 2, and a skid that is fixed to the coil carriage 11 and places the coil 1. 12 and a controller 13 for driving and controlling the coil carriage 11. The coil carriage 11 can be moved by the controller 13 in the coil insertion direction indicated by the arrow in the figure.

In addition, the coil conveyance facility 10 includes a camera 14 and an image processing device 15 that processes an image captured by the camera 14. The camera 14 is disposed so as to face the reel 2 with the coil 1 before being inserted into the reel 2, and the end surface of the coil 1 placed on the coil carriage 11 is inserted into the reel 2 before being inserted into the reel 2. 2 is taken from the opposite side.
Further, the coil conveyance facility 10 includes an alarm device 16. The alarm device 16 issues an alarm in response to a command signal from the controller 13.

In this embodiment, after positioning (alignment) so that the center of the inner diameter of the coil 1 and the center of the reel 2 coincide with each other, the end face of the coil 1 is imaged by the camera 14, and the alignment is correctly performed using the captured image. Check if it is done. Then, after confirming that alignment is performed correctly, the coil carriage 11 is moved in the coil insertion direction, and the coil 1 is inserted into the reel 2.
The alignment of the coil 1 is performed by the following procedure, for example.
First, the coil 1 is transferred from a predetermined coil place by a crane, a forklift or the like, and the coil 1 is placed on the skid 12 on the coil carriage 11. Next, the outer shape of the coil 1 is detected by a known method, the center of the inner diameter of the coil 1 is predicted based on the outer shape of the coil 1, and the coil carriage 11 is moved up and down. Control to match the height position of the center of.

  When alignment of the coil 1 in the height direction is completed, the controller 13 performs alignment confirmation processing of the coil 1 next. First, the controller 13 controls the coil carriage 11, stops the coil carriage 11 at a preset imaging position, and images the end face of the coil 1 with the camera 14 at the imaging position. Here, the imaging position is the position of the coil carriage 11 when the imaging surface of the coil 1 is located at a preset coil end face position (a position away from the camera 14 in the coil insertion direction by a certain distance) P. Since the width of the coil 1 varies depending on the product, the imaging position (stop position of the coil carriage 11) changes depending on the coil width. The coil end face position P is set to a position where the inner diameter 1a of the coil 1 and the end face of the reel 2 are simultaneously accommodated in the camera field of view 14a in consideration of the fluctuation range of the center position of the coil 1.

Next, the image processing device 15 calculates a center-to-center distance L that is the distance between the center of the inner diameter of the coil 1 and the center of the reel 2 on the captured image based on the captured image captured by the camera 14.
As shown in FIG. 1, the image processing apparatus 15 includes an A / D conversion unit 15a, a memory 15b, and a center-to-center distance calculation unit 15c. The A / D conversion unit 15a performs A / D conversion on the image data captured by the camera 14 and stores it in the memory 15b. In addition to the image data output from the A / D converter 15a, the memory 15b stores in advance the center position coordinates C2 (Xr, Yr) of the reel 2 on the image data. The center position coordinates C2 (Xr, Yr) of the reel 2 is detected and stored in advance by imaging the outer shape of the reel 2 with the camera 14 before placing the coil 1 on the coil carriage 11.

  The center-to-center distance calculation unit 15c extracts the inner diameter 1a of the coil 1 by performing edge detection processing or the like on the image data of the coil 1 stored in the memory 15b. For example, the inner diameter 1a is extracted from the edge detection image using preset coil inner diameter information (basic shape of the inner diameter 1a). Next, the center position coordinates C1 (Xc, Yc) of the extracted inner diameter 1a are calculated on the image data, and the center position coordinates C1 (Xc, Yc) of the inner diameter 1a and the center position coordinates C2 (Xr, Yr) of the reel 2 are calculated. Based on the above, the difference between the two (center distance L) is calculated.

It should be noted that the reel end face shape image and the coil inner diameter shape image are registered in the image processing device 15 in advance, and the center position C1 of the inner diameter 1a of the coil 1 picked up and the reel 2 by pattern recognition between the registered image and the picked up image. The center position C2 may be calculated and the center distance L may be measured (determined). The pattern recognition may use a function attached to the image processing apparatus, or may be realized by, for example, two-dimensional correlation calculation.
The controller 13 acquires the center-to-center distance L calculated by the image processing device 15 and performs alignment confirmation of the coil 1 based on whether or not the center-to-center distance L is within a preset allowable range. That is, the controller 13, the camera 14, and the image processing device 15 constitute an alignment confirmation device that performs alignment confirmation of the coil 1.

Next, the procedure of the alignment confirmation process executed by the controller 13 will be specifically described.
FIG. 2 is a flowchart showing the alignment confirmation processing procedure. As described above, this process starts after the alignment in the height direction of the coil 1 is completed.
First, in step S1, the controller 13 determines whether or not the coil carriage 11 has reached the imaging position described above. If the coil carriage 11 has not reached the imaging position, the process proceeds to step S2. In step S2, the controller 13 outputs a command signal for causing the coil carriage 11 to travel in the coil insertion direction to the coil carriage 11, and the process proceeds to step S1.

On the other hand, if it is determined in step S1 that the coil carriage 11 has reached the imaging position, the process proceeds to step S3. In step S3, the controller 13 outputs a command signal for stopping the coil carriage 11 to the coil carriage 11, and proceeds to step S4.
In step S4, the controller 13 controls the camera 14 to image the end face of the coil 1 from the axial direction of the coil 1, and proceeds to step S5.

In step S5, the controller 13 acquires the center-to-center distance L calculated by the image processing device 15 based on the image captured in step S4, and proceeds to step S6.
In step S6, the controller 13 determines whether or not the center-to-center distance L acquired in step S5 exceeds a preset allowable value _LTH (out of the allowable range). Here, the allowable value L _TH is set to a center position deviation amount that allows the reel 2 to penetrate the inner diameter 1a of the coil 1 without interference between the coil 1 and the reel 2 when the coil 1 is inserted into the reel 2. .

If it is determined in this step S6 that L> _LTH, it is determined that the _alignment of the coil 1 is not performed correctly, and the process proceeds to step S7. The lead confirmation process is terminated. Here, as the alignment abnormality processing, the alarm device 16 is operated to issue an alarm, and a command signal for stopping the coil carriage 11 is continuously output to the coil carriage 11 (of the coil 1). A process of outputting a command signal prohibiting automatic loading into the reel 2 is applied.

On the other hand, if it is determined in step S6 that L ≦ _LTH , the process proceeds to step S8, and a command signal for causing the coil carriage 11 to travel in the coil insertion direction is output to the coil carriage 11. Then, the alignment confirmation process is terminated.
Note that the camera 14 corresponds to the imaging means, the center-to-center distance calculation unit 15c of the image processing device 15 corresponds to the center-to-center distance calculation means, step S6 in FIG. 2 corresponds to the determination means, and step S7 is prohibited from loading. Corresponding to the command output means, the alarm device 16 corresponds to the notification means.

(Operation)
Next, the operation of this embodiment will be described.
When the coil 1 is placed on the skid 12 of the coil carriage 11 from a predetermined coil place, the controller 13 moves the coil carriage 11 to a predetermined alignment position on the traveling rail. Next, the controller 13 detects the outer shape of the coil 1, and based on the outer shape detection result of the coil 1, the coil carriage 11 so that the height position of the inner diameter center of the coil 1 matches the height position of the center of the reel 2. Control up and down.

  Then, the controller 13 moves the coil carriage 11 to the imaging position corresponding to the width of the coil 1 (step S2 in FIG. 2), and stops the coil carriage 11 at the imaging position (step S3). And the camera 14 is controlled in this position and the end surface of the coil 1 is imaged (step S4). At this time, regardless of the width of the coil 1, the coil 1 end face is imaged at a position where the distance from the camera 14 to the coil 1 end face is constant. Thereby, the size of the coil inner diameter 1a viewed from the camera 14 can be always constant, and the process of extracting the inner diameter 1a from the captured image can be performed easily and with high accuracy.

When the distance (intercenter distance L) between the center of the inner diameter of the coil 1 and the center of the reel 2 is calculated by the image processing device 15 based on the image captured at this time, the controller 13 acquires this (step S5). Then, it is determined whether or not the center-to-center distance L exceeds the allowable value L _TH (step S6). If L ≦ _LTH , the controller 13 determines that the alignment of the coil 1 is normally performed, and causes the coil carriage 11 to travel in the coil insertion direction (step S8). As a result, the reel 2 passes through the inner diameter 1a portion of the coil 1, and the coil 1 is mounted on the reel 2.

The coil carriage 11 travels on a predetermined traveling rail so that the center position in the width direction matches the center position in the horizontal direction on the end face side of the reel 2. The coil 1 is placed on a skid 12 fixed to the coil carriage 11 so that the center position in the horizontal direction on the end face side coincides with the center position in the width direction of the coil carriage 11. Therefore, normally, if only the alignment in the height direction is performed, the center position of the coil 1 and the center position of the reel 2 should match, and L ≦ L _TH .

However, due to deformation of the contact portion of the skid 12 with the coil 1 due to long-term use, mechanical backlash between the coil carriage 11 and the traveling rail, an increase in partial wear, contamination, etc. The mounted coil 1 may be inclined. In this case, even if the alignment in the height direction is performed, the center position shift occurs in other than the height direction, resulting in an alignment error.
FIG. 3 is a diagram illustrating a state when the alignment is abnormal. 3A is a side view, and FIG. 3B is a front view. When alignment in the height direction is performed, the difference Δh in the height direction between the inner diameter center C1 of the coil 1 and the center C2 of the reel 2 falls within the allowable range. For this reason, when the alignment determination in only the height direction is performed, as shown in FIG. 3B, when the alignment is abnormal, the center 1 is displaced so that the coil 1 and the reel 2 interfere during insertion. Even so, it is erroneously determined that alignment is correctly performed. As described above, when the coil insertion operation is continued in a state where an erroneous determination is made in the final confirmation before the coil insertion, the reel 2 interferes with the coil 1 at the time of insertion, and the reel 2 pushes the coil 1 so that the coil 1 becomes the coil carriage 11. There is a risk of falling from above.

On the other hand, in the present embodiment, as shown in FIG. 3B, when a center position shift occurs in the two-dimensional direction, this can be reliably detected. That is, in this case, since L> _LTH (Yes in step S6 in FIG. 2), the controller 13 activates the alarm device 16 to issue an alarm and stops the coil insertion operation (automatic coil insertion is prohibited). (Step S7). Therefore, the worker can receive an alarm from the alarm device 16 and perform an operation of correcting the center position of the coil 1. As a result, the coil 1 can be stably mounted on the reel 2.

(effect)
As described above, in the above embodiment, the distance between the center of the inner diameter of the coil and the center of the reel is detected using image processing, and it is determined whether or not the center-to-center distance is within the allowable range. And the center position of the reel can be compared in a two-dimensional direction. Therefore, even if the center position deviation occurs in any direction other than the coil height direction, the center position deviation can be detected appropriately, and correct pass / fail judgment can be performed in the alignment check. .

At this time, since the coil end surface is imaged by controlling the coil carriage so that the distance between the camera and the coil end surface is always constant, the size of the inner diameter of the coil viewed from the camera can be always constant. The process of extracting the circle corresponding to the coil inner diameter from the image is facilitated, and the center position of the coil can be detected with high accuracy.
Further, when it is determined that the alignment is not correctly performed in the alignment confirmation, this is notified to the operator, so that the operator can quickly fine-tune the center position of the coil in response to the notification. it can.

In addition, since it is only necessary to install a camera for imaging the coil end face before inserting the reel on one side in the width direction of the coil, an optical sensor and it are installed on both sides of the coil in the width direction like a conventional movable inner diameter detection sensor. It is not necessary to install a movable part for movement, and space saving can be realized as compared with the conventional apparatus.
As described above, it is possible to appropriately determine whether or not the steel sheet coil is normally aligned without deteriorating the space efficiency.

(Application examples)
In the above embodiment, when the center distance L exceeds the allowable value L _TH , the center position deviation information may be displayed on the display. Thereby, the operator can recognize how much the center position shift is generated in which direction. Therefore, the subsequent center position adjustment operation can be performed smoothly.

In the above embodiment, the case where the camera 14 is disposed on the side opposite to the reel 2 with the coil 1 interposed therebetween has been described. However, the camera 14 is disposed on the reel 2 side and the end surface on the reel 2 side is imaged. You may do it. In this case, since the camera 14 is fixed with respect to the reel 2, assuming that the center position of the reel 2 on the captured image is always constant, the coordinates of the center position of the reel 2 are set in advance on the image data. The center distance L can be calculated.
Furthermore, in the above embodiment, the case where the alignment confirmation device according to the present invention is used for confirmation after alignment in the height direction only has been described. However, in addition to the height direction, the alignment in the horizontal direction on the end surface side is described. The alignment confirmation apparatus according to the present invention can also be used for final confirmation after the alignment.

  DESCRIPTION OF SYMBOLS 1 ... Coil, 2 ... Reel, 10 ... Coil conveyance equipment, 11 ... Coil cart, 12 ... Skid, 13 ... Controller, 14 ... Camera, 15 ... Image processing apparatus, 15a ... A / D conversion part, 15b ... Memory, 15c ... Center distance calculator, 16 ... Alarm device

Claims (5)

A coil alignment confirmation device for performing alignment confirmation of a steel sheet coil inserted into a reel,
The coil end face position is set at a position where the steel sheet coil before being inserted into the reel is sandwiched between the reels, and the inner diameter of the steel sheet coil and the end face of the reel are simultaneously accommodated in the field of view. Examples predetermined imaging position when the end surface of the steel sheet coil is positioned, the end face of the steel sheet coil in the predetermined imaging position before the reel inserted the imaging surface, the opposite to the said imaging surface the reel Imaging means for imaging from the axial direction of the steel sheet coil;
A center-to-center distance calculating unit that calculates a center-to-center distance that is a distance between the center of the inner diameter of the steel sheet coil and the center of the reel on the image based on the image captured by the image capturing unit;
Coil alignment confirmation apparatus comprising: a determination unit that determines that the alignment of the steel sheet coil is abnormal when the center-to-center distance calculated by the center-center distance calculation unit is outside an allowable range. .   2. The coil alignment confirmation apparatus according to claim 1, further comprising a notification unit that notifies an operator of an abnormality when the determination unit determines that the alignment of the steel sheet coil is abnormal.   When it is determined by the determining means that the alignment of the steel sheet coil is abnormal, a command signal for prohibiting the automatic charging is output to an automatic coil charging apparatus that automatically loads the steel sheet coil into the reel. The coil alignment confirmation device according to claim 1, further comprising a charging prohibition command output unit.   4. The coil alignment confirmation according to claim 1, wherein the imaging position is set so that a distance between the imaging unit and an imaging surface of the steel sheet coil is always constant. 5. apparatus. A coil alignment confirmation method for performing alignment confirmation of a steel sheet coil inserted into a reel,
The image pickup means is opposed to the reel across the steel plate coil before being inserted into the reel, and the coil end face position is set at a position where the inner diameter of the steel plate coil and the end face of the reel are simultaneously accommodated in the field of view of the image pickup means. set, as the predetermined imaging position when the end surface of the steel sheet coil to the coil end surface position is located, the end surface of the steel sheet coil in the predetermined imaging position before the reel inserted the imaging surface, the said imaging surface Imaging from the axial direction of the steel sheet coil opposite to the reel ;
Based on the captured image, calculating a center-to-center distance that is a distance between the center of the inner diameter of the steel sheet coil and the center of the reel on the image;
And a step of determining that the steel sheet coil is in alignment abnormality when the calculated center-to-center distance is outside an allowable range.

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