JP5146153B2 - Detection method of weld hole position - Google Patents
Detection method of weld hole position Download PDFInfo
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- JP5146153B2 JP5146153B2 JP2008169736A JP2008169736A JP5146153B2 JP 5146153 B2 JP5146153 B2 JP 5146153B2 JP 2008169736 A JP2008169736 A JP 2008169736A JP 2008169736 A JP2008169736 A JP 2008169736A JP 5146153 B2 JP5146153 B2 JP 5146153B2
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- 238000001514 detection method Methods 0.000 title claims description 71
- 238000003466 welding Methods 0.000 claims description 62
- 239000000463 material Substances 0.000 claims description 37
- 238000000034 method Methods 0.000 claims description 20
- 238000005553 drilling Methods 0.000 claims description 7
- 238000005259 measurement Methods 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 5
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- 230000003287 optical effect Effects 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000000873 masking effect Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000000137 annealing Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
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Description
本発明は、鋼板などの帯状材を連続的に処理する設備で、帯状材の溶接点を検出するために行う、帯状材の溶接点部に穿孔された溶接穴の位置を検出する溶接穴位置の検出方法に関するものである。 The present invention is a facility for continuously processing a strip-shaped material such as a steel plate, and is a welding hole position for detecting the position of a weld hole drilled in a welding point portion of the strip-shaped material, in order to detect a welding point of the strip-shaped material. It is related with the detection method.
コイル状に巻かれた鋼板などの帯状材を連続的に処理する設備においては、当該設備入側に溶接機などを設置し、先行材の払出しが終了後、先行材の後端部と後行材の先端部を接続する方法が一般的に行われている。 In equipment that continuously processes strip-like materials such as steel sheets wound in a coil, install a welding machine, etc. on the entry side of the equipment, and after the delivery of the preceding material is complete, A method of connecting the tip portions of the materials is generally performed.
材料を設備内で連続的に通過させながら処理する際、溶接点通過後の設定切替、あるいは溶接点近傍で過渡的な処理をするため、常に溶接点の設備内位置を正確に認識しておく必要があり、溶接点検出器を設備内の適当な箇所に複数設置し、例えば、基準ロールの回転数の累積などから演算にて求めた溶接点位置を、溶接点検出器からの検出信号により補正しながら通板する方法が取られている。 When processing while continuously passing the material through the equipment, the position of the welding point in the equipment is always accurately recognized in order to change the setting after passing the welding point or to perform a transient process near the welding point. It is necessary to install multiple welding point detectors at appropriate locations in the equipment.For example, the welding point position obtained by calculation based on the cumulative number of rotations of the reference roll, etc., is detected by the detection signal from the welding point detector. A method of passing through while correcting is taken.
溶接点検出方法としては、光学的、電磁気的、接触式など種々のものが考案されている。光学式溶接点検出器を用いたものには、例えば、特許文献１または特許文献２に開示された技術がある。
Various methods such as optical, electromagnetic, and contact methods have been devised as welding point detection methods. For example, Patent Literature 1 or
図３は、従来の光学式溶接点検出器を説明する図である。図中、１は帯状材、２は溶接穴、３はイメージセンサー式カメラ、４はコントローラ、５はカメラ視野、６は投光器、および７は溶接点検出信号をそれぞれ表す。 FIG. 3 is a diagram for explaining a conventional optical welding point detector. In the drawing, 1 is a belt-like material, 2 is a welding hole, 3 is an image sensor camera, 4 is a controller, 5 is a camera field of view, 6 is a projector, and 7 is a welding point detection signal.
帯状材１の下部から、投光器６で帯状材１の幅方向に光を発する。帯状材１の溶接部に穿孔した円状の溶接穴２を通過した光を、帯状材１の上部にカメラ視野５で帯状材１の全幅をカバーするように設置したイメージセンサー式カメラ３で捕らえて、コントローラ４で２値化処理し溶接穴の検出を行い、溶接点検出信号７を出力する。
Light is emitted from the lower part of the strip 1 in the width direction of the strip 1 by the projector 6. The light that has passed through the
当該設備より上流プロセスの設備において溶接部を巻込み、コイル状に巻取った後に、当該設備入側で払出す場合が考えられるが、この場合、複数設備での溶接点が混在した状態で当該設備を通過することになる。いずれの設備で溶接されたかにより、溶接点前後の処置方法が異なるため、検出された溶接点がどの設備で溶接されたかを区別できるようにすることが必要である。 It is conceivable that the welded part is wound up in the upstream process equipment and wound up in the form of a coil, and then discharged at the equipment entry side. You will pass through the equipment. Since the treatment method before and after the welding point differs depending on which equipment is welded, it is necessary to be able to distinguish which equipment the detected welding point was welded to.
図４は、溶接穴の穿孔位置の例を示す図である。図中、１は帯状材、２ａはセンター穴、２ｂはエッジ穴、８は当該設備溶接点、および９は他設備溶接点をそれぞれ表す。 FIG. 4 is a diagram illustrating an example of a drilling position of a weld hole. In the figure, 1 is a belt-like material, 2a is a center hole, 2b is an edge hole, 8 is the equipment welding point, and 9 is another equipment welding point.
この例では、当該設備溶接点８では、センター穴２ａ、そして他設備溶接点９では、エッジ穴２ｂを設けるようにしている。このように、自ラインではセンター位置、前ラインではエッジ位置などと、幅方向で各設備での溶接点検出用の穴の位置を変えておき、イメージセンサー式カメラなどを用いて、帯状材の幅方向の穴位置を認識することにより溶接穴を区別する方法が行われている。エッジ穴溶接穴については、溶接穴穿孔後から当該ラインまでの通過ラインにより、駆動側エッジ、操作側エッジのいずれかを通過することになる。
図５は、従来の溶接点検出器のカメラ配置方法を示す図である。(a)は、カメラ１台方式の場合、(b)は、視野をセンターで２分割しカメラを２台設置する場合、(c)は、各溶接穴の種類毎に検出器を設置する場合をそれぞれ表す。図中、１０はセンター溶接穴検出範囲、１１はエッジ溶接穴検出範囲、１２はセンター溶接穴検出信号、１３はエッジ溶接穴検出信号、および１４はカメラの全体視野をそれぞれ表し、その他の符号は図２または３と同じである。 FIG. 5 is a diagram illustrating a conventional camera placement method for a welding point detector. (a) is for a single camera system, (b) is when the field of view is divided into two at the center and two cameras are installed, and (c) is when a detector is installed for each type of weld hole Respectively. In the figure, 10 is the center weld hole detection range, 11 is the edge weld hole detection range, 12 is the center weld hole detection signal, 13 is the edge weld hole detection signal, and 14 is the entire field of view of the camera. Same as FIG. 2 or 3.
図５(a)のカメラ１台方式の場合には、帯状材の最広幅と想定される帯状材の蛇行量を加えたものがカメラ視野範囲に入るようにカメラを設置する。この場合、他の場合と比べてカメラ台数は最小となるものの、(1)解像度が粗くなり不検出の恐れがある、(2)カメラ視野角の制約上、検出器と帯状材との距離を大きく取る必要があり設置スペースが大きくなる、(3)エッジ穴とセンター穴を区別し、かつヘゲ穴などの誤検出を最小にするため、エッジ穴検出位置設定、センター穴検出のマスキング幅設定を設ける必要があるなど検出ロジックが複雑になる、といった問題がある。 In the case of the single camera system of FIG. 5 (a), the camera is installed so that the amount of meandering of the belt-like material which is assumed to be the widest width of the belt-like material is within the camera visual field range. In this case, the number of cameras is minimized compared to the other cases, but (1) the resolution is coarse and there is a risk of non-detection. (2) Due to camera viewing angle restrictions, the distance between the detector and the strip is set. (3) Edge hole detection position setting and center hole detection masking width setting to distinguish between edge holes and center holes and minimize false detection such as bald holes. There is a problem that the detection logic becomes complicated.
また、図５(b)の視野をセンターで２分割しカメラを２台設置する場合は、１台方式と比較すると解像度、設置スペースの問題は解消されるが、検出ロジックについての問題点は残される。 In addition, when the field of view in Fig. 5 (b) is divided into two at the center and two cameras are installed, the resolution and installation space problems are resolved compared to the single camera system, but problems with the detection logic remain. It is.
さらに、図５(c)の各溶接穴の種類毎(駆動側エッジ溶接穴用、センター溶接穴用、操作側エッジ溶接穴用)に検出器を設置する場合は、検出ロジックの面では最も簡単であるが、カメラ台数が多くなるため設置費が高くなってしまう問題がある。 Furthermore, when installing a detector for each type of weld hole in Fig. 5 (c) (for drive side edge weld holes, center weld holes, and operation side edge weld holes), it is the simplest in terms of detection logic. However, there is a problem that the installation cost becomes high because the number of cameras increases.
本発明は、これら従来技術の問題点に鑑み、設置費を抑えかつ簡単な検出ロジックでエッジ穴とセンター穴の判定を確実に行うことができる、溶接穴位置の検出方法を提供することを課題とする。 In view of the problems of these conventional techniques, the present invention provides a method for detecting a weld hole position, which can reduce the installation cost and can reliably determine the edge hole and the center hole with a simple detection logic. And
上記課題は、以下の手段により解決できる。
［１］帯状材の溶接点部に穿孔された溶接穴の位置を検出する溶接穴位置の検出方法であって、
溶接穴の位置を光学的に検出可能なイメージセンサー式カメラを、該カメラの検出視野が帯状材の蛇行量に溶接穴の穿孔位置精度を加味した量の帯状材の幅方向中央部におけるラップ部を含むように、帯状材の幅方向に並べて２台配置し、
前記ラップ部をセンター溶接穴の検出範囲とし、前記２台配置したカメラによるセンター溶接穴位置の検出結果に基づいて、溶接穴の帯状材の幅方向位置を特定することを特徴とする溶接穴位置の検出方法。
The above problem can be solved by the following means.
[1] A welding hole position detection method for detecting a position of a welding hole drilled in a welding point portion of a belt-shaped material,
An image sensor type camera capable of optically detecting the position of a welding hole, and a lap portion in the widthwise central portion of the band-shaped material in which the detection field of view of the camera takes into account the meandering amount of the band-shaped material and the drilling position accuracy of the welding hole to include a place two side by side in the width direction of the strip material,
Welding hole position characterized in that the position in the width direction of the belt-like material of the welding hole is specified based on the detection result of the center welding hole position by the two cameras arranged with the lap portion as a detection range of the center welding hole Detection method .
［２］上記［１］に記載の溶接穴位置の検出方法において、
前記２台配置したカメラによる溶接穴位置の検出にあたっては、
それぞれのカメラからの測定信号をそれぞれに演算処理し、エッジ溶接穴検出信号とセンター溶接穴検出信号とに分け、それぞれのカメラからの測定信号を演算処理して得られたエッジ溶接穴検出信号の論理和をとり、帯状材のエッジ溶接穴検出とし、或いはそれぞれの検出器からの測定信号を演算処理して得られたセンター溶接穴検出信号の論理積をとり、帯状材のセンター溶接穴検出とすることを特徴とする溶接穴位置の検出方法。
[2] In the method for detecting a weld hole position according to [1] above ,
In the detection of the welding hole position by the two cameras arranged ,
The measurement signal from each camera is calculated and processed separately, divided into edge weld hole detection signal and center weld hole detection signal, and the edge weld hole detection signal obtained by calculating the measurement signal from each camera . Take the logical sum and detect the edge weld hole of the strip material, or calculate the logical product of the center weld hole detection signal obtained by processing the measurement signal from each detector, and detect the center weld hole of the strip material A method for detecting a position of a weld hole .
本発明によれば、それぞれのイメージセンサーにおいて、エッジからの設定距離との比較のみでエッジ穴とセンター穴の判定をするため、コントローラ内でのマスキング処理などが不要となり検出ロジックを簡単にすることができた。また、センター穴については２台の論理積を取るためヘゲ穴などの誤検出を最小にすることができた。さらに２台方式であるため、設置スペースの制約上１台方式では設置不可能な場所においても設置可能であり、設備費も抑えることができる。 According to the present invention, in each image sensor, the edge hole and the center hole are determined only by comparing with the set distance from the edge, so that masking processing or the like in the controller is unnecessary, and the detection logic is simplified. I was able to. In addition, since the center hole takes the logical product of the two units, false detection such as a bald hole could be minimized. Furthermore, since it is a two-unit system, it can be installed even in a place where it cannot be installed by the one-unit system due to installation space limitations, and the equipment cost can be reduced.
以下、図面を参照しながら、本発明に係る溶接穴位置の検出方法を説明する。 Hereinafter, a method for detecting a weld hole position according to the present invention will be described with reference to the drawings.
図１は、本発明に係る溶接穴位置の検出方法を説明する図である。焼鈍炉を中心にした帯板プロセスラインの例であり、図中、１は帯状材、３はイメージセンサー式カメラ、４はコントローラ、５はカメラ視野、１１はエッジ溶接穴検出範囲、１２はセンター溶接穴検出信号、１３はエッジ溶接穴検出信号、１４はカメラの全体視野、１５はカメラ視野ラップ部、および１６は制御装置をそれぞれ表す。 FIG. 1 is a diagram illustrating a method for detecting a weld hole position according to the present invention. It is an example of a strip plate process line centering on an annealing furnace. In the figure, 1 is a strip material, 3 is an image sensor camera, 4 is a controller, 5 is a camera field of view, 11 is an edge weld hole detection range, and 12 is a center. A weld hole detection signal, 13 is an edge weld hole detection signal, 14 is an overall field of view of the camera, 15 is a camera field of view wrap, and 16 is a control device.
イメージセンサー式カメラ３を帯状材の駆動側と操作側に２台設置し、それぞれのカメラ視野５を、想定される帯状材１の蛇行量にセンター穴の穿孔位置精度を加味した分のカメラ視野ラップ部１５を持たせるように、センター部でラップさせるようにしたことが本発明の特徴である。
Two
イメージセンサー式カメラ３からの出力信号は、それぞれのイメージセンサー式カメラ３に接続されたコントローラ４により２値化処理されて、センター溶接穴検出信号１２およびエッジ溶接穴検出信号１３とに演算処理され、制御装置１６に送られる。そして、センター溶接穴検出信号１２、エッジ溶接穴検出信号１３それぞれに基づいて、制御装置１６で溶接穴の検出が行われる。
The output signal from the image
先ず、コントローラ４では、検出された溶接穴の検出位置を、あらかじめコントローラ内で定められたエッジからの設定距離と比較する。そして、溶接穴の検出位置が前記設定距離よりセンター側の場合センター穴、エッジ側の場合エッジ穴と判定し、センター溶接穴検出信号１２およびエッジ溶接穴検出信号１３としてそれぞれ出力する。
First, the controller 4 compares the detected position of the detected weld hole with a set distance from an edge determined in advance in the controller. Then, if the detection position of the weld hole is closer to the center than the set distance, it is determined as a center hole, and if it is closer to the edge, it is determined as an edge hole and output as a center weld hole detection signal 12 and an edge weld
次に、制御装置１６では、２台のコントローラ４からそれぞれ送られたセンター溶接穴検出信号１２およびエッジ溶接穴検出信号１３を用いて、以下の処理を行う。
Next, the
すなわち、駆動側コントローラのエッジ穴検出信号と、操作側コントローラのエッジ穴検出信号の論理和をとり、帯状材のエッジ溶接穴検出とする。また、駆動側コントローラのセンター穴検出信号と、操作側コントローラのセンター穴検出信号の論理積をとり、帯状材のセンター溶接穴検出とする。 That is, the logical sum of the edge hole detection signal of the drive side controller and the edge hole detection signal of the operation side controller is taken to obtain the edge weld hole detection of the belt-like material. In addition, a logical product of the center hole detection signal of the drive-side controller and the center hole detection signal of the operation-side controller is taken to obtain the center welding hole detection of the strip-shaped material.
このように、本発明では、イメージセンサー式カメラを駆動側と操作側に2台設置するから、1台方式と比較すると帯状材とカメラとの距離を小さくすることができるため、設置スペースの制約が少なく、設備がコンパクトになる。また、各溶接点の通過位置毎に検出器を設置する場合と比較するとカメラ台数は最小となるため、設備費が安くて済む。 Thus, in the present invention, since two image sensor cameras are installed on the driving side and the operation side, the distance between the belt-like material and the camera can be reduced as compared with the one-unit system, so that the installation space is limited. There are few, and equipment becomes compact. Further, since the number of cameras is minimized as compared with the case where a detector is installed for each passing position of each welding point, the equipment cost can be reduced.
また、駆動側と操作側のカメラ視野をラップさせるように設置し、視野のラップ部をセンター穴の検出範囲とできるから、各イメージセンサーのコントローラ単体ではエッジ部穴とそれ以外の判定だけをすればよいことになり、判定ロジックが簡単になる。 In addition, since the camera field of view on the drive side and the operation side are installed to wrap, and the lap part of the field of view can be used as the detection range of the center hole, the controller of each image sensor alone can only detect the edge hole and other judgments. This means that the decision logic is simple.
さらに、２台のコントローラのエッジ穴の論理和、センター穴の論理積についても簡単なリレー回路などで組むことが可能であるため、設備費の点からも有利である。 Furthermore, the logical sum of the edge holes and the logical product of the center holes of the two controllers can be assembled with a simple relay circuit, which is advantageous from the viewpoint of equipment cost.
図２は、本発明についての実施例を示す図である。本実施例で溶接穴位置を検出した帯状材の最大幅は1,300mmであり、想定される帯状材の蛇行量を75mmとし、2台のカメラの視野全体を1,300mm＋75mm×2＝1,450mmとした。次に、センター部でのラップ量は、帯状材の蛇行量±75mmにセンター穴の穿孔位置精度±25mmを加味し（75mm＋25mm）×2＝200mmとした。 FIG. 2 is a diagram showing an embodiment of the present invention. In this example, the maximum width of the strip-shaped material for which the position of the weld hole was detected was 1,300 mm, the assumed meandering amount of the strip-shaped material was 75 mm, and the entire field of view of the two cameras was 1,300 mm + 75 mm × 2 = 1,450 mm . Next, the amount of wrapping at the center portion was set to (75 mm + 25 mm) × 2 = 200 mm, taking into account the meandering amount of the belt-like material ± 75 mm and the drilling position accuracy of the center hole ± 25 mm.
従ってそれぞれのカメラの視野は1,450mm÷2＋(75mm＋25mm)＝825mmとなる。カメラと帯状材との距離(1,191mm)は、このようにして決定された視野とレンズの視野角から物理的に一意に決まる。 Therefore, the field of view of each camera is 1,450 mm ÷ 2 + 2 + (75 mm + 25 mm) = 825 mm. The distance (1,191 mm) between the camera and the belt-like material is physically uniquely determined from the field of view thus determined and the viewing angle of the lens.
エッジ部溶接穴の検出範囲（エッジからの設定距離）は、コントローラ内で設定可能であるが、本実施設備では80mmに調整した。それぞれのコントローラでは、エッジから80mmまでの範囲で溶接穴を検出した場合にはエッジ穴検出信号、それ以外の位置で検出した場合には、センター穴検出信号が制御盤に出力される。 The detection range of the edge weld hole (set distance from the edge) can be set in the controller, but it was adjusted to 80 mm in this facility. In each controller, an edge hole detection signal is output to the control panel when a weld hole is detected within the range from the edge to 80 mm, and a center hole detection signal is output to the control panel when it is detected at other positions.
そして、2台のコントローラからのエッジ穴検出信号の論理和をとり、帯状材のエッジ溶接穴検出とする。また、2台のコントローラのセンター穴検出信号の論理積をとり、帯状材のセンター溶接穴検出とする。 Then, the logical sum of the edge hole detection signals from the two controllers is taken to obtain the edge weld hole detection of the strip material. The logical product of the center hole detection signals of the two controllers is taken to detect the center weld hole of the strip.
本実施例では投光器として蛍光灯を使用したが、LEDなどの光源を用いてもよいし、投光器内に蛍光灯を2本設置しているが、蛍光灯の本数もこれに限るものはない。また、本実施例では、コントローラをカメラ部に内蔵したものとしているが、分離し別置きとしても構わないし、さらに制御盤についても、リレー等を用いたハード回路でもシーケンサなどのソフトウェア処理としても構わない。なお、これまでの説明で、２台のカメラそれぞれにコントローラを有するとしてきたが、１台のコントローラで２台のカメラからの測定信号をそれぞれ独立に演算できるようにしてもよい。 In this embodiment, a fluorescent lamp is used as a projector. However, a light source such as an LED may be used, and two fluorescent lamps are installed in the projector. However, the number of fluorescent lamps is not limited to this. In the present embodiment, the controller is built in the camera unit. However, the controller may be separated and separated, and the control panel may be a hardware circuit using a relay or a software process such as a sequencer. Absent. In the above description, each of the two cameras has a controller. However, the measurement signals from the two cameras may be calculated independently by one controller.
１ 帯状材
２ 溶接穴
２ａ センター穴
２ｂ エッジ穴
３ イメージセンサー式カメラ
４ コントローラ
５ カメラ視野
６ 投光器
７ 溶接点検出信号
８ 当該設備溶接点
９ 他設備溶接点
１０ センター溶接穴検出範囲
１１ エッジ溶接穴検出範囲
１２ センター溶接穴検出信号
１３ エッジ溶接穴検出信号
１４ カメラの全体視野
１５ カメラ視野ラップ部
１６ 制御装置
DESCRIPTION OF SYMBOLS 1 Band-shaped
Claims (2)
溶接穴の位置を光学的に検出可能なイメージセンサー式カメラを、該カメラの検出視野が帯状材の蛇行量に溶接穴の穿孔位置精度を加味した量の帯状材の幅方向中央部におけるラップ部を含むように、帯状材の幅方向に並べて２台配置し、
前記ラップ部をセンター溶接穴の検出範囲とし、前記２台配置したカメラによるセンター溶接穴位置の検出結果に基づいて、溶接穴の帯状材の幅方向位置を特定することを特徴とする溶接穴位置の検出方法。 A method for detecting a position of a weld hole for detecting a position of a weld hole drilled in a welding point portion of a belt-shaped material,
An image sensor type camera capable of optically detecting the position of a welding hole, and a lap portion in the widthwise central portion of the band-shaped material in which the detection field of view of the camera takes into account the meandering amount of the band-shaped material and the drilling position accuracy of the welding hole to include a place two side by side in the width direction of the strip material,
Welding hole position characterized in that the position in the width direction of the belt-like material of the welding hole is specified based on the detection result of the center welding hole position by the two cameras arranged with the lap portion as a detection range of the center welding hole Detection method.
前記２台配置したカメラによる溶接穴位置の検出にあたっては、
それぞれのカメラからの測定信号をそれぞれに演算処理し、エッジ溶接穴検出信号とセンター溶接穴検出信号とに分け、それぞれのカメラからの測定信号を演算処理して得られたエッジ溶接穴検出信号の論理和をとり、帯状材のエッジ溶接穴検出とし、或いはそれぞれの検出器からの測定信号を演算処理して得られたセンター溶接穴検出信号の論理積をとり、帯状材のセンター溶接穴検出とすることを特徴とする溶接穴位置の検出方法。 In the detection method of welding hole position according to claim 1,
In the detection of the welding hole position by the two cameras arranged ,
The measurement signal from each camera is calculated and processed separately, divided into edge weld hole detection signal and center weld hole detection signal, and the edge weld hole detection signal obtained by calculating the measurement signal from each camera . Take the logical sum and detect the edge weld hole of the strip material, or calculate the logical product of the center weld hole detection signal obtained by processing the measurement signal from each detector, and detect the center weld hole of the strip material A method for detecting a position of a weld hole.
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| JPH0638991B2 (en) * | 1988-06-03 | 1994-05-25 | 日新製鋼株式会社 | How to detect steel strip welds |
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