TW201927679A - Steel coil center coordinates detecting device and method thereof enabling an automated crane to move a clamp to the correct center position of a steel coil to smoothly clamp the steel coil - Google Patents
Steel coil center coordinates detecting device and method thereof enabling an automated crane to move a clamp to the correct center position of a steel coil to smoothly clamp the steel coil Download PDFInfo
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本發明係有關一種中心座標偵測裝置及其方法，更特別有關一種鋼捲中心座標偵測裝置及其方法。The invention relates to a central coordinate detecting device and a method thereof, and more particularly to a steel coil central coordinate detecting device and a method thereof.
天車在夾取鋼捲時，若夾具未對準鋼捲中心，在吊升時容易使鋼捲滾動連帶使夾具晃動，影響鋼捲吊運穩定度。天車指揮系統之鋼捲倉儲資料庫所記錄之鋼捲中心座標，可能因包裝厚度、枕木高度、鋼捲堆疊位置偏移等因素，使得系統估算出之鋼捲中心三維座標與實際堆放之鋼捲座標不一致。因此，在無人操作之自動化天車上，為確保能順利夾取鋼捲，一般都會裝設影像辨識系統，掃描鋼捲外型，以判斷鋼捲中心位置座標，使天車可依辨識結果修正夾具位置，對準鋼捲中心順利夾取鋼捲。When the crane picks up the steel coil, if the clamp is not aligned with the center of the coil, it is easy to cause the coil to roll and sway when lifting, which affects the stability of the coil lifting. The center coordinates of the coil recorded by the steel coil storage database of the crane command system may cause the system to estimate the three-dimensional coordinates of the center of the coil and the actual stacking steel due to factors such as the thickness of the package, the height of the sleeper, and the offset of the stacking position of the coil. The volume coordinates are inconsistent. Therefore, in the unmanned automatic crane, in order to ensure the smooth clamping of the steel coil, an image recognition system is generally installed to scan the steel coil shape to determine the coordinate position of the steel coil, so that the crane can be corrected according to the identification result. Position the clamp and align the coil with the center of the coil.
然而，建置影像辨識系統需採用雷射掃描器擷取鋼捲外型資料，並搭配電腦分析計算，雖然影像辨識結果精確，但建置成本較高。However, the construction of the image recognition system requires the use of a laser scanner to capture the steel coil profile data, and with computer analysis and calculation, although the image recognition results are accurate, but the construction cost is higher.
有鑑於此，便有需要提出一種方案，以解決上述問題。In view of this, there is a need to propose a solution to solve the above problems.
本發明之目的在於提供一種鋼捲中心座標偵測裝置。It is an object of the present invention to provide a steel coil center coordinate detecting device.
為達上述目的，本發明之鋼捲中心座標偵測裝置包含：一大車，能夠沿著X方向水平移動；一小車，能夠在該大車上沿著Y方向水平移動，其中該Y方向係垂直於該X方向；一夾具，利用一鋼索吊掛在該小車下方，該鋼索可拉動該夾具使其進行Z方向的垂直移動，其中該Z方向係垂直於該X方向和該Y方向，該夾具係具有一第一吊鉤及一第二吊鉤，其中該第一吊鉤與該第二吊鉤在該X方向上的距離係可調整，以用來夾取放置在地面上的一鋼捲，其中該鋼捲具有兩相對的端面；以及兩光電開關，設置在該第一吊鉤上，其中當該夾具的該第一吊鉤與該第二吊鉤分別從該鋼捲的兩端面旁下降經過該鋼捲內緣的旁邊時，該兩光電開關會分別產生一信號。To achieve the above object, the steel coil center coordinate detecting device of the present invention comprises: a large car that can move horizontally along the X direction; and a small car that can move horizontally along the Y direction on the large vehicle, wherein the Y direction Is perpendicular to the X direction; a clamp is suspended under the trolley by a cable that can pull the clamp to perform vertical movement in the Z direction, wherein the Z direction is perpendicular to the X direction and the Y direction The fixture has a first hook and a second hook, wherein the distance between the first hook and the second hook in the X direction is adjustable for gripping on the ground. a steel coil, wherein the steel coil has two opposite end faces; and two photoelectric switches are disposed on the first hook, wherein when the first hook and the second hook of the clamp are respectively from the steel coil When the two end faces descend along the inner edge of the coil, the two photoelectric switches respectively generate a signal.
本發明另提供一種鋼捲中心座標偵測方法，係根據該兩光電開關產生該兩信號時的座標位置，用來計算出該鋼捲中心的位置座標。The invention further provides a method for detecting a center coordinate of a steel coil, which is used for calculating a position coordinate of a center of the steel coil according to a coordinate position when the two photoelectric switches generate the two signals.
根據本發明之鋼捲中心座標偵測方法，利用夾具上的光電開關以及光電開關通過鋼捲內緣時所記錄之夾具座標，在鋼捲內徑已知的情形下，可推算鋼捲實際中心座標，供自動化天車將夾具移動至正確鋼捲中心位置，以順利夾取鋼捲。According to the method for detecting the central coordinate of the steel coil according to the present invention, the actual center of the steel coil can be estimated under the condition that the inner diameter of the steel coil is known by using the photoelectric switch on the clamp and the photoelectric switch to pass the coordinate of the clamp recorded when the inner edge of the steel coil is recorded. Coordinates for the automated crane to move the fixture to the center of the correct coil for smooth gripping of the coil.
為了讓本發明之上述和其他目的、特徵、和優點能更明顯，下文特舉本發明實施例，並配合所附圖示，作詳細說明如下。The above and other objects, features, and advantages of the present invention will become more apparent from the embodiments of the invention.
請參照圖1，本發明之鋼捲中心座標偵測裝置包含有一天車110，該天車110包含有一大車111及一小車112，其中大車111可在一對水平設置且沿著X方向延伸的軌道190上移動。小車112則設置在大車111上，並能夠在大車111上進行Y方向的水平移動，其中Y方向係垂直X方向。小車112下方利用鋼索125吊掛一夾具120，該鋼索125可拉動夾具120使其進行Z方向的垂直移動，其中Z方向係垂直於X方向和Y方向。夾具120包含有一對沿著X方向設置的吊鉤121、122，該兩吊鉤121、122在X方向上的距離係可調整，以用來夾取放置在地面上的鋼捲190。為了得知大車111和小車112的位置，大車111上固定有一大車雷射測距儀141和一小車雷射測距儀142，其中大車雷射測距儀141可用來量測至一固定物，例如是一面牆的距離，藉此計算大車111在X方向上的位置，而小車雷射測距儀142則用來量測至小車112的距離，藉此計算小車112在Y方向上的位置。為了得知夾具120目前的高度，小車112上設置有絕對型編碼器143，其可用來計算鋼索125目前向下伸出的長度，藉此計算出夾具120目前在Z方向上的位置。除此之外，吊鉤121上設置有兩個反射式的光電開關131、132，各該光電開關131、132可射出一道光束，若此光束反射回被原光電開關131、132所接收，則會產生一信號。Referring to FIG. 1, the steel coil center coordinate detecting device of the present invention includes a one-day car 110, which includes a large car 111 and a small car 112, wherein the cart 111 can be disposed at a horizontal level and along the X. The direction extending track 190 moves. The cart 112 is disposed on the cart 111 and is capable of horizontal movement in the Y direction on the cart 111, wherein the Y direction is perpendicular to the X direction. Below the trolley 112, a clamp 120 is suspended by a wire rope 125 which can pull the clamp 120 to perform vertical movement in the Z direction, wherein the Z direction is perpendicular to the X direction and the Y direction. The jig 120 includes a pair of hooks 121, 122 disposed along the X direction, and the distances of the two hooks 121, 122 in the X direction are adjustable for gripping the steel coil 190 placed on the ground. In order to know the position of the cart 111 and the cart 112, a large vehicle laser range finder 141 and a cart laser range finder 142 are fixed on the cart 111, wherein the cart laser range finder 141 can be used for the amount A fixture is measured, for example, the distance of a wall, thereby calculating the position of the cart 111 in the X direction, and the trolley laser range finder 142 is used to measure the distance to the cart 112, thereby calculating The position of the cart 112 in the Y direction. In order to know the current height of the clamp 120, the trolley 112 is provided with an absolute encoder 143 which can be used to calculate the length of the cable 125 currently extending downwardly, thereby calculating the current position of the clamp 120 in the Z direction. In addition, the hook 121 is provided with two reflective photoelectric switches 131 and 132, and each of the photoelectric switches 131 and 132 can emit a light beam. If the light beam is reflected back to be received by the original photoelectric switches 131 and 132, then Will produce a signal.
根據本發明之鋼捲中心座標偵測裝置，其中假設鋼捲190的內徑為r，而軸心平行X方向，且鋼捲190的兩端面垂直於X方向。光電開關131、132在X方向和Z方向上的位置皆相同，僅Y方向上的位置不同，且兩者間的距離為a。According to the steel coil center coordinate detecting device of the present invention, it is assumed that the inner diameter of the steel coil 190 is r, and the axial center is parallel to the X direction, and both end faces of the steel coil 190 are perpendicular to the X direction. The positions of the photoelectric switches 131 and 132 in the X direction and the Z direction are the same, and only the positions in the Y direction are different, and the distance between the two is a.
請參照圖2a及2b，當夾具120下降使得吊鉤121上的光電開關131、132經過鋼捲190的外緣191時，此時光電開關131、132射出的光束會被鋼捲190的端面反射，因此光電開關131、132產生了ON信號。請參照圖3a及3b，當夾具120繼續下降使得吊鉤121上的光電開關131、132經過鋼捲190內緣192時，這時光電開關131、132射出的光束不再被鋼捲190端面反射，因此光電開關131、132產生了OFF信號。Referring to FIGS. 2a and 2b, when the clamp 120 is lowered such that the photoelectric switches 131, 132 on the hook 121 pass the outer edge 191 of the coil 190, the light beams emitted from the photoelectric switches 131, 132 are reflected by the end faces of the coil 190. Therefore, the photoelectric switches 131, 132 generate an ON signal. Referring to FIGS. 3a and 3b, when the clamp 120 continues to descend such that the photoelectric switches 131, 132 on the hook 121 pass the inner edge 192 of the coil 190, the light beams emitted from the photoelectric switches 131, 132 are no longer reflected by the end faces of the coil 190. Therefore, the photoelectric switches 131, 132 generate an OFF signal.
下面說明如何利用本發明之鋼捲中心座標偵測裝置來偵測鋼捲中心座標。首先，請參照圖4，其中：The following describes how to use the steel coil center coordinate detecting device of the present invention to detect the center coordinates of the steel coil. First, please refer to Figure 4, where:
座標(y1 , z1 )表示光電開關131下降經過鋼捲190內緣192信號由ON轉成OFF時的Y座標和Z座標；The coordinates (y 1 , z 1 ) indicate the Y coordinate and the Z coordinate when the photoelectric switch 131 is lowered by the inner edge 192 of the coil 190 from ON to OFF;
座標(y2 , z2 )表示光電開關132下降經過鋼捲190內緣192信號由ON轉成OFF時的Y座標和Z座標；The coordinates (y 2 , z 2 ) indicate the Y coordinate and the Z coordinate when the photoelectric switch 132 is lowered by the inner edge 192 of the steel coil 190 from ON to OFF;
座標(yc , zc )表示實際鋼捲190內緣192中心的Y座標和Z座標；The coordinates (y c , z c ) represent the Y coordinate and the Z coordinate of the center of the inner edge 192 of the actual coil 190;
a=|y2 -y1 |；a=|y 2 -y 1 |;
b=|z2 -z1 |；b=|z 2 -z 1 |;
c=(a2 +b2 )1/2 ；c = (a 2 + b 2 ) 1/2 ;
d為鋼捲190內緣192中心相較於光電開關131、132中心點的偏移距離；以及d is the offset distance between the center of the inner edge 192 of the coil 190 and the center points of the photoelectric switches 131, 132;
r為鋼捲190的內徑。r is the inner diameter of the coil 190.
根據光電開關131、132在Z方向的座標，可判別夾具120是偏向鋼捲190內緣192的左側或右側。因為光電開關132是位在光電開關131的右側，當z2 ＞z1 ，表示光電開關131、132及夾具120是偏向鋼捲190內緣192的左側；當z2 ＜z1 ，表示光電開關131、132及夾具120是偏向鋼捲190內緣192的右側。Based on the coordinates of the photoelectric switches 131 and 132 in the Z direction, it can be determined that the jig 120 is biased to the left or right side of the inner edge 192 of the coil 190. Because the photoelectric switch 132 is located on the right side of the photoelectric switch 131, when z 2 >z 1 , it means that the photoelectric switches 131, 132 and the clamp 120 are biased to the left side of the inner edge 192 of the coil 190; when z 2 <z 1 , it means the photoelectric switch 131, 132 and clamp 120 are offset to the right side of inner edge 192 of steel coil 190.
根據上述資料，可計算出與之夾角。若a ＜r，可定義出一個虛擬角度，而若a ≧ r，則可定義虛擬角度 Based on the above information, it can be calculated versus Angle . If a < r, define a virtual angle , if a ≧ r, you can define a virtual angle
因此，當＜，則表示光電開關131、132及夾具120跨過鋼捲190內緣192中心；而當＞，則表示光電開關131、132及夾具120未跨過鋼捲190內緣192中心。Therefore, when < , indicating that the photoelectric switches 131, 132 and the clamp 120 span the center of the inner edge 192 of the coil 190; > That is, the photoelectric switches 131, 132 and the clamp 120 do not cross the center of the inner edge 192 of the coil 190.
根據夾具120是偏向鋼捲190內緣192的左側或右側，以及夾具120是否跨過鋼捲190內緣192中心，可計算出實際鋼捲190內緣192中心座標(yc , zc )以及鋼捲190中心相較於光電開關131、132中心點的偏移距離d。Depending on whether the clamp 120 is biased to the left or right side of the inner edge 192 of the coil 190, and whether the clamp 120 spans the center of the inner edge 192 of the coil 190, the center coordinate (y c , z c ) of the inner edge 192 of the actual coil 190 can be calculated and The center distance of the coil 190 is offset from the center point of the photoelectric switches 131, 132 by a distance d.
以下說明如何計算出鋼捲190內緣192中心座標(yc , zc )以及鋼捲190中心相較於光電開關131、132中心點的偏移距離d。The following describes how to calculate the center coordinate (y c , z c ) of the inner edge 192 of the coil 190 and the offset distance d of the center of the coil 190 from the center points of the photoelectric switches 131 and 132.
請參照圖5a、5b及5c，其所顯示者z2 皆大於z1 ，表示夾具120是偏向鋼捲190內緣192的左側。而圖5a所示者，表示光電開關131、132跨越鋼捲190內緣192中心。根據三角關係，可以計算得到：Referring to Figures 5a, 5b and 5c, the z 2 is greater than z 1 , indicating that the clamp 120 is biased to the left of the inner edge 192 of the coil 190. While shown in Figure 5a, the photoelectric switches 131, 132 are shown spanning the center of the inner edge 192 of the coil 190. According to the triangular relationship, you can calculate:
圖5b所示者，係表示光電開關131、132未跨越鋼捲190內緣192中心。根據三角關係，可以計算得到：The one shown in Figure 5b indicates that the photoelectric switches 131, 132 do not span the center of the inner edge 192 of the coil 190. According to the triangular relationship, you can calculate:
圖5c所示者，則表示光電開關132位在鋼捲190內緣192中心的正上方。根據三角關係，可以計算得到：The one shown in Fig. 5c indicates that the photoelectric switch 132 is located directly above the center of the inner edge 192 of the coil 190. According to the triangular relationship, you can calculate:
請參照圖6a、6b及6c，其所顯示者z1 皆大於z2 ，表示夾具120是偏向鋼捲190內緣192的右側。而圖6a所示者，表示光電開關131、132跨越鋼捲190內緣192中心。根據三角關係，可以計算得到：Referring to Figures 6a, 6b and 6c, they are displayed by greater than z 1 z 2, the jig 120 is a right side represents the inner edge 190 toward the coil 192. While shown in Figure 6a, the photoelectric switches 131, 132 are shown across the center of the inner edge 192 of the coil 190. According to the triangular relationship, you can calculate:
圖6b所示者，係表示光電開關131、132未跨越鋼捲190內緣192中心。根據三角關係，可以計算得到：The one shown in Fig. 6b indicates that the photoelectric switches 131, 132 do not span the center of the inner edge 192 of the coil 190. According to the triangular relationship, you can calculate:
圖6c所示者，則表示光電開關132位在鋼捲190內緣192中心的正上方。根據三角關係，可以計算得到：The one shown in Fig. 6c indicates that the photoelectric switch 132 is located directly above the center of the inner edge 192 of the coil 190. According to the triangular relationship, you can calculate:
請參照圖7，其顯示者係z1 等於z2 ，表示光電開關131、132中心點是位於鋼捲190內緣192中心點的正上方。根據三角關係，可以計算得到：Referring to FIG. 7, the display system z 1 is equal to z 2 , indicating that the center points of the photoelectric switches 131 and 132 are located directly above the center point of the inner edge 192 of the coil 190. According to the triangular relationship, you can calculate:
以下對於本發明之鋼捲中心座標偵測方法進行驗證。The method for detecting the center coordinates of the steel coil of the present invention is verified below.
在a=|y2 -y1 |小於鋼捲內徑r的情況下，產生一組半徑r = 0.305 M之圓形座標資料來模擬鋼捲內徑座標，圖中的圓中心座標為(0,0)，假設夾具120上兩顆光電開關131、132在Y方向上的距離為a = 0.27 M，如圖8所示。In the case where a=|y 2 -y 1 | is smaller than the inner diameter r of the coil, a set of circular coordinate data with radius r = 0.305 M is generated to simulate the inner diameter coordinate of the coil, and the center coordinates of the circle in the figure are (0) , 0), assuming that the distance between the two photoelectric switches 131, 132 on the jig 120 in the Y direction is a = 0.27 M, as shown in FIG.
將鋼捲190內徑上半圓周座標資料由-Y至+Y方向每隔0.27 M取兩組座標資料，模擬夾具120下降時光電開關131、132先後被鋼捲190遮斷時所取得的各種偏心座標資料，並代入前述計算方法，求得在Y方向應修正的偏心距離d。圖9之X軸為鋼捲中心與夾具中心之距離偏差量，其單位為公尺(M)，Y軸為計算出應修正之距離，其單位為公尺。由圖可看出，鋼捲偏心距離與計算出應修正的距離幾乎相同，誤差可精確到10-3 。The upper half-circle coordinate data of the inner diameter of the steel coil 190 is taken from the -Y to +Y direction every two points of 0.27 M, and the photoelectric switches 131 and 132 are successively blocked by the steel coil 190 when the simulation clamp 120 is lowered. The eccentricity coordinate data is substituted into the aforementioned calculation method to obtain the eccentricity distance d to be corrected in the Y direction. The X-axis of Figure 9 is the distance deviation between the center of the coil and the center of the fixture. The unit is in meters (M), and the Y-axis is the distance to be corrected. The unit is in meters. It can be seen from the figure that the eccentric distance of the coil is almost the same as the distance to be corrected, and the error can be accurate to 10 -3 .
而在a=|y2-y1|大於鋼捲內徑r的情況下，產生一組半徑r = 0.254 M之圓形座標資料來模擬鋼捲內徑座標，圖中的圓中心座標為(0,0)，假設夾具120上兩顆光電開關131、132在方向上的距離a = 0.27 M，如圖10所示。When a=|y2-y1| is larger than the inner diameter r of the coil, a set of circular coordinate data with radius r = 0.254 M is generated to simulate the inner diameter coordinate of the steel coil, and the center coordinates of the circle in the figure are (0, 0), assuming that the distance between the two photoelectric switches 131, 132 on the fixture 120 in the direction is a = 0.27 M, as shown in FIG.
將鋼捲190內徑上半圓周座標資料由-Y至+Y方向每隔0.27 M取兩組座標資料，模擬夾具120下降時光電開關131、132先後被鋼捲190遮斷時所取得的各種偏心座標資料，並代入前述計算方法，求得在Y方向應修正的偏心距離d。圖11之X軸為鋼捲中心與夾具中心之距離偏差量，其其單位為公尺，Y軸為計算出應修正之距離，其單位為公尺。由圖可看出，鋼捲偏心距離與計算出應修正的距離幾乎相同，誤差可精確到10-3 。The upper half-circle coordinate data of the inner diameter of the steel coil 190 is taken from the -Y to +Y direction every two points of 0.27 M, and the photoelectric switches 131 and 132 are successively blocked by the steel coil 190 when the simulation clamp 120 is lowered. The eccentricity coordinate data is substituted into the aforementioned calculation method to obtain the eccentricity distance d to be corrected in the Y direction. The X-axis of Fig. 11 is the distance deviation between the center of the coil and the center of the fixture, and its unit is a meter, and the Y-axis is the distance to be corrected, and the unit is in meters. It can be seen from the figure that the eccentric distance of the coil is almost the same as the distance to be corrected, and the error can be accurate to 10 -3 .
由上述模擬結果可知，本發明之鋼捲中心座標偵測方法可適用於各種尺寸之鋼捲內徑，且偏心距離誤差可精確到10-3 。It can be seen from the above simulation results that the method for detecting the center circle of the steel coil of the present invention can be applied to the inner diameter of the coil of various sizes, and the eccentric distance error can be accurate to 10 -3 .
根據本發明之鋼捲中心座標偵測方法，利用夾具上的光電開關以及光電開關通過鋼捲內緣時所記錄之夾具座標，在鋼捲內徑已知的情形下，可推算鋼捲實際中心座標，供自動化天車將夾具移動至正確鋼捲中心位置，以順利夾取鋼捲。According to the method for detecting the central coordinate of the steel coil according to the present invention, the actual center of the steel coil can be estimated under the condition that the inner diameter of the steel coil is known by using the photoelectric switch on the clamp and the photoelectric switch to pass the coordinate of the clamp recorded when the inner edge of the steel coil is recorded. Coordinates for the automated crane to move the fixture to the center of the correct coil for smooth gripping of the coil.
雖然本發明已以前述實施例揭示，然其並非用以限定本發明，任何本發明所屬技術領域中具有通常知識者，在不脫離本發明之精神和範圍內，當可作各種之更動與修改。因此本發明之保護範圍當視後附之申請專利範圍所界定者為準。The present invention has been disclosed in the foregoing embodiments, and is not intended to limit the present invention. Any of the ordinary skill in the art to which the invention pertains can be modified and modified without departing from the spirit and scope of the invention. . Therefore, the scope of the invention is defined by the scope of the appended claims.
110‧‧‧天車110‧‧‧天车
111‧‧‧大車111‧‧‧ cart
112‧‧‧小車112‧‧‧ trolley
120‧‧‧夾具120‧‧‧Clamp
121‧‧‧吊鉤121‧‧‧hook
122‧‧‧吊鉤122‧‧‧ hook
125‧‧‧鋼索125‧‧‧Steel cable
131‧‧‧光電開關131‧‧‧ photoelectric switch
132‧‧‧光電開關132‧‧‧ photoelectric switch
141‧‧‧大車雷射測距儀141‧‧‧Large laser range finder
142‧‧‧小車雷射測距儀142‧‧‧Large laser range finder
143‧‧‧絕對型編碼器143‧‧‧Absolute encoder
190‧‧‧鋼捲190‧‧‧ steel coil
191‧‧‧外緣191‧‧‧ outer edge
192‧‧‧內緣192‧‧‧ inner edge
a‧‧‧距離A‧‧‧distance
b‧‧‧距離B‧‧‧distance
c‧‧‧距離C‧‧‧distance
d‧‧‧距離D‧‧‧distance
r‧‧‧內徑r‧‧‧Inner diameter
t‧‧‧距離Distance from t‧‧‧
X‧‧‧方向X‧‧‧ direction
Y‧‧‧方向Y‧‧‧ direction
Z‧‧‧方向Z‧‧‧ direction
θ1‧‧‧角度θ 1 ‧‧‧ angle
θ2‧‧‧角度θ 2 ‧‧‧ angle
θ3‧‧‧角度θ 3 ‧‧‧ angle
θ4‧‧‧角度θ 4 ‧‧‧ angle
(y1,z1)‧‧‧座標(y 1 , z 1 ) ‧ ‧ coordinates
(y2,z2)‧‧‧座標(y 2 , z 2 ) ‧ ‧ coordinates
(yc,zc)‧‧‧座標(y c , z c ) ‧ ‧ coordinates
圖1為本發明之鋼捲中心座標偵測裝置的示意圖。 圖2a顯示本發明之鋼捲中心座標偵測裝置中裝設在夾具上的光電開關面對鋼捲端面的局部前視圖。 圖2b顯示本發明之鋼捲中心座標偵測裝置中裝設在夾具上的光電開關面對鋼捲端面的局部側視圖。 圖3a顯示本發明之鋼捲中心座標偵測裝置中裝設在夾具上的光電開關面對鋼捲中空內徑的局部前視圖。 圖3b顯示本發明之鋼捲中心座標偵測裝置中裝設在夾具上的光電開關面對鋼捲中空內徑的局部側視圖。 圖4顯示本發明之鋼捲中心座標偵測方法中使用的參數。 圖5a、5b、5c、6a、6b、6c及7顯示本發明之鋼捲中心座標偵測方法中，各種不同態樣的計算方法。 圖8顯示在一種實施態樣下，驗證本發明之鋼捲中心座標偵測方法所使用的參數條件。 圖9顯示在圖8所使用的參數條件下，模擬結果的誤差量。 圖10顯示在另一種實施態樣下，驗證本發明之鋼捲中心座標偵測方法所使用的參數條件。 圖11顯示在圖10所使用的參數條件下，模擬結果的誤差量。1 is a schematic view of a steel coil center coordinate detecting device of the present invention. Fig. 2a shows a partial front view of the photoelectric switch mounted on the jig facing the end face of the steel coil in the coil center coordinate detecting device of the present invention. Fig. 2b shows a partial side view of the photoelectric switch mounted on the jig facing the end face of the steel coil in the coil center coordinate detecting device of the present invention. Fig. 3a shows a partial front view of the photoelectric switch mounted on the jig in the coil center coordinate detecting device of the present invention facing the hollow inner diameter of the coil. Fig. 3b is a partial side elevational view showing the hollow inner diameter of the photoelectric switch mounted on the jig in the coil center coordinate detecting device of the present invention. Figure 4 shows the parameters used in the method of detecting the center coordinates of the steel coil of the present invention. Figures 5a, 5b, 5c, 6a, 6b, 6c and 7 show the calculation of various aspects in the method of detecting the central coordinate of the steel coil of the present invention. Figure 8 shows the parameter conditions used to verify the method of detecting the central coordinate of the steel coil of the present invention in one embodiment. Figure 9 shows the amount of error in the simulation results under the parameters used in Figure 8. Figure 10 shows the parameter conditions used to verify the method of detecting the central coordinate of the steel coil of the present invention in another embodiment. Figure 11 shows the error amount of the simulation result under the parameter conditions used in Figure 10.
Claims (6)
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| TW106145376A TWI644851B (en) | 2017-12-22 | 2017-12-22 | Steel coil center coordinate detecting device and method thereof |
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| TW106145376A TWI644851B (en) | 2017-12-22 | 2017-12-22 | Steel coil center coordinate detecting device and method thereof |
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| CN115159061A (en) * | 2022-07-01 | 2022-10-11 | 广东诺巴特智能设备有限公司 | Feeding and storing device for steel coils |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH0783610A (en) * | 1993-09-09 | 1995-03-28 | Hitachi Kiden Kogyo Ltd | Position measurement method for cylindrical object |
| JP3114474B2 (en) * | 1993-12-24 | 2000-12-04 | 株式会社日立製作所 | Object position recognition device |
| JPH0977470A (en) * | 1995-09-14 | 1997-03-25 | Hitachi Kiden Kogyo Ltd | Position detecting method of cylindrical object and device thereof |
| JP2002003159A (en) * | 2000-06-21 | 2002-01-09 | Sumitomo Metal Ind Ltd | Method of determining position of grabbing thin plate coil in automated crane |
| CN105819329B (en) * | 2016-05-26 | 2017-10-03 | 中冶赛迪工程技术股份有限公司 | Intelligent coil of strip fixture |
| CN206142646U (en) * | 2016-08-31 | 2017-05-03 | 山东鲁中钢铁物流有限公司 | Intelligent grabbing device of hoist clamp |
| CN206486175U (en) * | 2017-03-02 | 2017-09-12 | 张家港市盛达冶金吊具制造有限公司 | Coil grab device for automating unmanned crane |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115159061A (en) * | 2022-07-01 | 2022-10-11 | 广东诺巴特智能设备有限公司 | Feeding and storing device for steel coils |
| CN115159061B (en) * | 2022-07-01 | 2024-04-26 | 广东诺巴特智能设备有限公司 | Feeding and storing device for steel coil |
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