Plate member position detection device, plate member conveyance method, and plate member manufacturing method

Abstract

Provided is a plate member position detection device capable of accurately detecting the position of a plate member on the uppermost layer, which is the object to be suspended, from among stacked plate members. When the uppermost steel plate among the stacked steel plates (plate members) is suspended by a crane (1), an image of the stacked steel plates including the entire uppermost steel plate is acquired by an image acquisition unit (5). Next, the position of the uppermost steel plate is detected by comparing the template information of the uppermost steel plate with the image, whereby the position of the uppermost steel plate to be suspended can be accurately detected even if steel plates having a small plate thickness are stacked. Particularly, under the condition that the uppermost layer of steel plate is adsorbed and suspended by utilizing an adsorption mechanism such as a lifting magnet (2), the stability of the adsorbed and suspended steel plate can be ensured.

Description

Technical Field

[0001] The present invention relates to a plate member position detection device, a plate member conveying method and a plate member manufacturing method. Background Art

[0002] The thick plate workshop of a steel mill is equipped with: rolling equipment that rolls block-shaped steel plates to the desired thickness; finishing equipment that cuts the rolled steel plates to the shipping size, removes burrs at the ends, trims surface defects, and inspects internal defects; and a product warehouse that stores steel plates waiting to be shipped. Semi-finished steel plates in the finishing equipment and steel plates waiting to be shipped in the product warehouse are stored in a state of stacking several to dozens of pieces due to storage space constraints. When the configuration of the steel plates is changed or shipped, a crane (suspension device) equipped with an electromagnet-type lifting magnet (also called an adsorption mechanism, "lifting magnet") is used, for example, to suspend one to several target steel plates and move them.

[0003] When performing this operation, it is necessary to correctly grasp the position of the steel plate to be suspended. In particular, in the thick plate workshop of the steel plant, sometimes a thick steel plate with a thickness of more than 100 mm is adsorbed (magnetized) and suspended by the lifting magnet of the crane. In this case, when the center of gravity of the steel plate to be suspended is offset from the center of the lifting magnet, the load will be biased, and in the worst case, the steel plate may fall, so it is necessary to correctly grasp the position of the steel plate, especially the center of gravity.

[0004] For such a problem, as a method for detecting the position of a steel plate to be suspended, there is a method described in Patent Document 1, for example. In the prior art, the following method is proposed: an image captured by a camera from obliquely above the steel plate is divided into a planar image and a side image of the steel plate, and image processing is performed to extract each of them, thereby obtaining the shape and center of gravity position of the stacked steel plate.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Laid-Open No. 7-330287 Summary of the invention

[0008] Problems to be solved by the invention

[0009] The method of Patent Document 1 is a method of detecting the step shape of the stacked steel plates by image processing, and calculating the installation position of each steel plate by cutting at the step portion. However, when a plurality of thin steel plates with a thickness of less than 10 mm are stacked, the upper and lower steel plates are detected as being integrated, and it is difficult to detect the position of only the uppermost steel plate to be suspended.

[0010] The present invention has been made in view of the above problems, and an object thereof is to provide a panel member position detection device, a panel member conveying method, and a panel member manufacturing method capable of accurately detecting the position of the topmost panel member to be suspended from among stacked panel members.

[0011] Means for solving problems

[0012] In order to achieve the above-mentioned purpose, the essence of a plate member position detection device of one scheme of the present invention is that it detects the position of the topmost plate member among the stacked plate members when the topmost plate member is suspended by a suspension device, and the plate member position detection device comprises: an image acquisition unit, which acquires an image of the stacked plate members including the topmost plate member as a whole; and a calculation unit, which detects the position of the topmost plate member by comparing the template information of the topmost plate member prepared in advance with the image.

[0013] In addition, the essence of a plate component conveying method according to one embodiment of the present invention is to use an adsorption mechanism of a suspension device to adsorb and suspend the top plate component of the stacked plate components, and to perform loading and unloading and conveying of the top plate component. The plate component conveying method includes: a step of using an image acquisition unit to acquire an image of the stacked plate components including the top plate component as a whole; a step of detecting the position of the top plate component by comparing pre-made template information of the top plate component with the image; and a step of positioning the adsorption mechanism based on the detected position of the top plate component, adsorbing the top plate component with the adsorption mechanism, and using the suspension device to suspend the top plate component for loading and unloading and conveying.

[0014] A method for manufacturing a plate member according to one aspect of the present invention is gist of including the step of suspending and loading and unloading the uppermost plate member based on the position of the uppermost plate member detected by the plate member position detection device.

[0015] Effects of the Invention

[0016] According to the panel member position detection device, panel member conveying method, and panel member manufacturing method of the present invention, the position of the uppermost panel member to be suspended from among the stacked panel members can be accurately detected. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic structural diagram of a crane to which one embodiment of the panel member position detection device, panel member conveying method, and panel member manufacturing method of the present invention is applied.

[0018] Figure 2 is set at Figure 1Block diagram of the crane system.

[0019] Figure 3 yes Figure 2 Block diagram of the operation unit.

[0020] Figure 4 It is used Figure 3 An explanatory diagram of the contents of the calculation processing performed by the plate member peripheral edge detection unit.

[0021] Figure 5 It is used Figure 3 An illustration of the template information produced by the plate component template information production unit.

[0022] Figure 6 yes Figure 5 An illustration of a method for creating template information.

[0023] Figure 7 It is used Figure 3 An explanatory diagram of the contents of the calculation processing performed by the plate member position calculation unit.

[0024] Figure 8 It is used Figure 3 An explanatory diagram of the contents of the calculation processing performed by the plate member position calculation unit.

[0025] Fig. 9 It is used Figure 3 An explanatory diagram of a method for calculating the actual spatial center of gravity position performed by a plate member position calculation unit.

[0026] Fig.10 It is an explanatory diagram of the arrangement state of the plate members in the embodiment. DETAILED DESCRIPTION

[0027] Hereinafter, an embodiment of the plate member position detection device, plate member conveying method and plate member manufacturing method of the present invention will be described in detail with reference to the accompanying drawings. The embodiments shown below illustrate the device and method for concretizing the technical idea of ​​the present invention. The technical idea of ​​the present invention does not determine the material, shape, structure, configuration, etc. of the constituent parts as the following embodiments. In addition, the accompanying drawings are schematic. Therefore, it should be noted that the relationship and ratio between the thickness and the top view size are different from the actual ones, and the drawings also include parts with different relationship and ratio of each other's sizes.

[0028] Figure 1This is a schematic structural diagram of a crane (suspension device) 1 showing an embodiment of a plate member position detection device, a plate member conveying method, and a plate member manufacturing method. In this embodiment, the crane 1 suspends the topmost steel plate P among the steel plates (plate members) P piled up in a storage area within a crane building, and performs loading and unloading. The crane 1 of this embodiment has an electromagnet-type lifting magnet 2 as an adsorption mechanism, and the topmost steel plate P is adsorbed (magnetized) and held and suspended by the lifting magnet 2. As a mechanism for holding the steel plate P, an electromagnet-type lifting magnet 2 is preferred, but a holding mechanism such as a permanent magnet-type lifting magnet, a clamp, etc. may also be used.

[0029] The crane 1 of this embodiment is a so-called overhead crane, and is configured such that a trolley 51 on which a lifting magnet 2 is suspended travels horizontally on a beam 52, and the beam 52 travels on a travel track (slideway) 53. The lifting magnet 2 is raised and lowered, the trolley 51 travels horizontally, and the beam 52 travels by a driving unit having a driving source and a driving mechanism (not shown), and each driving unit is driven by a control device 3 that controls all operations of the crane 1. With regard to the lifting magnet 2, as shown in FIG. Figure 2 As shown, it is provided with a lifting magnet (adsorption mechanism in the figure) driving unit 21 for driving the lifting magnet 2. Moreover, the actions of these mechanisms are stored as logic (program) in an operation processing device such as a programmable logic controller provided in the control device 3, and the loading and unloading of the steel plate P is automatically performed according to the instructions from the upper computer not shown in the figure. The operation processing device in the control device 3 is a computer system that has a storage unit capable of storing programs and data, and an input-output unit for controlling input and output with the outside, in addition to an operation processing unit capable of performing high-speed operation processing. Of course, it is also configured so that the operator can operate each mechanism separately. In addition, the structure of the crane 1 is not limited to the above-mentioned structure.

[0030] In this embodiment, the position of the topmost steel plate P among the steel plates P stacked as described later is detected, and only the steel plate P is adsorbed by the lifting magnet 2 and suspended by the crane 1. During adsorption, the center position of the lifting magnet 2 is aligned with the detected position of the steel plate P, more specifically the center of gravity position, and the lifting magnet 2 is lowered onto the steel plate P. In this state, the electromagnet is energized to adsorb (magnetize) the steel plate P. These logics are also stored in an operation processing device such as a programmable logic controller in the above-mentioned control device 3, and are configured to be continuously and automatically implemented when the position (center of gravity position) of the steel plate P is output from the operation unit 4 of the plate component position detection device (also referred to as a "steel plate position detection device"). Regarding the lifting magnet 2, as Figure 2 As shown, a lifting magnet (adsorption mechanism) control unit 31 for controlling the driving state of the lifting magnet (adsorption mechanism) driving unit 21 is provided.

[0031] In this embodiment, the calculation unit 4 for detecting (calculating) the position (center of gravity position) of the uppermost steel plate P among the stacked steel plates P is incorporated into the control device 3 for controlling the crane 1. Therefore, the calculation unit 4 is also composed of calculation processing performed by a calculation processing unit in the control device 3, such as a programmable logic controller. The calculation unit 4 constitutes a main part of the steel plate (plate member) position detection device for detecting the position of the uppermost steel plate P among the stacked steel plates P. It should be noted that the calculation unit 4 may be constructed by, for example, a personal computer, etc., in addition to being constructed in the control device 3 of the crane 1.

[0032] In addition, in order to correctly detect the position of the topmost steel plate P by the calculation unit 4, the steel plate position detection device includes an image acquisition unit 5, which acquires an image of the steel plates P piled up in the storage area including the entire topmost steel plate P. In addition, the steel plate position detection device includes a vertical distance detection unit 6 that detects the distance (vertical distance) h between the image acquisition unit 5 and the topmost steel plate P in the vertical direction. The image acquisition unit 5 is, for example, composed of a 4K camera (camcorder), and the camera is configured to shoot the steel plates P from the oblique upper side of the storage area to shoot all the steel plates P piled up in the storage area and to make it difficult to shoot the lifting magnet 2. The configuration of the image acquisition unit 5 is not limited to this. In addition, the vertical distance detection unit 6 is, for example, composed of a laser distance meter, for example, detecting the height from the same height as the camera as the image acquisition unit 5 to the topmost steel plate P (upper surface) of the piled steel plates P as the vertical distance h. The vertical distance detection unit 6 can also use a known distance detection component such as an ultrasonic radar and a 3D scanner.

[0033] Figure 3: is a block diagram of the operation unit 4 of the steel plate position detection device, and each box represents a function performed by operation processing, etc. That is, each box represents a functional step in the flowchart of the operation processing. The details of each functional box will be described later. The operation unit 4 is equipped with a plate member peripheral portion detection unit 7, which detects the peripheral portion of the steel plate (plate member) P from the image of the steel plate P piled in the storage area obtained by the image acquisition unit 5, and outputs the information of the plate member detected from the result (plate member information). The plate member information is information of a plurality of polygons composed of the detected plurality of steel plate peripheral portions, and has the vertex coordinates of each polygon in the coordinate system set in the image (hereinafter referred to as the image set coordinate system). In addition, the operation unit 4 is equipped with an information storage unit 8, which stores the size information of the steel plate (plate member) P to be suspended and loaded and unloaded, the orientation of the image acquisition unit 5, and the position (to be more precise, the relative position of the image acquisition unit 5 and the topmost steel plate P). The size information of the steel plate P to be suspended is selected based on the steel plate information from a host computer such as a process control computer. The orientation and position (relative position to the uppermost steel plate P) of the image acquisition unit 5 will be described later.

[0034] In addition, the calculation unit 4 is provided with a plate member template information preparation unit 9, which prepares the template information of the topmost steel plate P based on the vertical distance h between the detected topmost steel plate P and the image acquisition unit 5, the steel plate size information provided from the information storage unit 8, and the image acquisition unit position information. The template information is polygon information of how to shoot the topmost steel plate P, that is, the image specification of the topmost steel plate P, and has the vertex coordinates of the polygon in the coordinate system set in the image. In addition, the calculation unit 4 is provided with a plate member position calculation unit 10, which compares the template information provided from the plate member template information preparation unit 9 with the detected plate member information, and calculates the position of the topmost steel plate P, specifically, its center of gravity position. In this example, the center of gravity position of the topmost steel plate P is converted from the coordinate system set in the image to the coordinate system in the actual space and outputted so as to be easily aligned with the lifting magnet 2 of the crane 1. It should be noted that, regarding the plate member template information preparation unit 9, for easy understanding, the template information preparation step described later is represented as a "preparation" unit, but template information pre-prepared according to the size of each steel plate P and the relative position with the image acquisition unit 5 can also be stored.

[0035] Next, use Figure 4 The content of the calculation processing performed by the plate member peripheral edge detection unit 7 will be described. Figure 4 a is an image of a plurality of steel plates P1 to P3 acquired by the image acquisition unit 5. For convenience, the number of steel plates P is set to 3. The peripheral edge of each steel plate P1 to P3 is detected from the image, for example, converted into Figure 4b shows the line graphs Q1 to Q3 of the polygons. As for the peripheral portions of the steel plates P1 to P3, the portions with large shadow or color changes that can be detected from the image can be regarded as the peripheral portions. In this example, the peripheral portions of the steel plates P are detected based on the shadow or color changes, but machine learning can also be performed in advance using a machine learning model for so-called object detection, and the peripheral portions of the steel plates P can be directly detected using the model. Figure 4 c, each of the multiple polygonal information thus obtained is extracted as plate member information R1 to R3. As described later, the polygonal plate member information R1 to R3 each has vertex coordinates set in the coordinate system within the image. Graphic matching is performed on the obtained multiple plate member information R1 to R3 and the template information prepared to match the top layer steel plate P1, and a certain plate member information is determined as the information of the top layer steel plate P1.

[0036] Next, use Figure 5 , Figure 6 The content of the calculation process performed by the plate member template information generating unit 9 will be described. Figure 5 is for Figure 4 The template information T of the topmost steel plate P is produced by the plate component template information producing unit 9 for the steel plates P in a stacked state of a. As described above, the template information T is the polygon (quadrilateral) information of the topmost steel plate P in the image, and has point 1 (x1, y1) to point 4 (x4, y4) as the coordinates of each vertex of the quadrilateral. The quadrilateral changes according to the size (longitudinal size, horizontal size) of the topmost steel plate P, the position where the topmost steel plate P is placed, the vertical distance (height) h from the topmost steel plate P (upper surface) to the image acquisition unit 5, and the orientation of the image acquisition unit (camera) 5. Therefore, when performing graphic matching with the extracted multiple plate component information R1 to R3, it is necessary to set the template information T that matches the actual topmost steel plate P.

[0037] use Figure 6 Describe the steps for creating the template information. Figure 6 a is a front view showing the arrangement of the uppermost steel plate P and the image acquisition unit (camera) 5, Figure 6 b is its top view. Figure 6 The vertical direction of b is defined as the longitudinal direction. Figure 6 b is defined as the horizontal direction, the vertical (=up and down) angle of view (angle of view) of the image acquisition unit (camera) 5 is set to 2θd, and the horizontal angle of view is set to 2θw. Figure 6As shown in a, the angle formed by the center of the viewing angle of the image acquisition unit (camera) 5 and the vertical, that is, the orientation of the image acquisition unit 5 relative to the vertical, is set to θc. The above are preset values. In addition, the center of the acquired image is set as the origin, the horizontal direction in the figure relative to the origin is set as the x-axis, the vertical direction is set as the y-axis, and the right side of the x-axis is set as the positive x-coordinate, and the top of the y-axis is set as the positive y-coordinate. In addition, the longitudinal (y-axis direction) dimension of the topmost steel plate P is set to b, and the lateral (x-axis direction) dimension is set to a. These are the dimensions of the steel plate P. In addition, the vertical distance from the topmost steel plate P (upper surface) detected by the vertical distance detection unit 6 to the image acquisition unit (camera) 5 is set to h. It is a detection value (measurement value). In addition, the longitudinal (y-axis direction) distance from the image acquisition unit (camera) 5 to the topmost steel plate P is set to d1, and the lateral (x-axis direction) distance from the origin (image center) to the center of gravity of the topmost steel plate P is set to w1. Here, the distances d1 and w1 are described as being constant values, but as described later, they may be variables and template information T corresponding to a plurality of different distances d1 and w1 may be prepared in advance and stored.

[0038] like Figure 6 As shown in a, when the viewing angle of the side end of the image acquisition unit in the y-axis direction of the topmost steel plate P expected to be photographed by the image acquisition unit 5 (hereinafter referred to as the near side end) relative to the vertical direction is set to θ1, and the viewing angle of the opposite side end (hereinafter referred to as the far end) relative to the vertical direction is set to θ2, θ1 and θ2 are expressed by the following equations 1 and 2.

[0039] [Mathematical formula 1]

[0040] θ1=Arctan(d1 / h)…(1)

[0041] θ2=Arctan((d1+b) / h)…(2)

[0042] In addition, the y coordinate of the far end of the uppermost steel plate P expected to be photographed by the image acquisition unit 5 is represented by tan(θ2-θc), and the y coordinate of the near side end is represented by -tan(θc-θ1). Figure 6 As shown in b, the x-coordinate of the vertex at the negative end of the x-axis (hereinafter referred to as the left end) and the far end of the uppermost steel plate P expected to be photographed by the image acquisition unit 5 is -(a / 2-w1) / (d1+b). Similarly, the x-coordinate of the vertex at the positive end of the x-axis (hereinafter referred to as the right end) and the far end is (a / 2+w1) / (d1+b), the x-coordinate of the vertex at the left end and the near front side end is -(a / 2-w1) / d1, and the x-coordinate of the vertex at the right end and the near front side end is (a / 2+w1) / d1. Therefore, Figure 5The coordinates of each vertex point 1 (x1, y1) to point 4 (x4, y4) of the quadrilateral shown are expressed by the following equations 3 to 6.

[0043] [Mathematical formula 2]

[0044] Point 1(x1, y1)=[-(a / 2-w1) / (d1+b), tan(θ2-θ c )]…(3)

[0045] Point 2(x2, y2)=[(a / 2+w1) / (d1+b), tan(θ2-θ c )]…(4)

[0046] Point 3(x3, y3)=[(a / 2-w1) / d1,-tan(θ c -θ1)]…(5)

[0047] Point 4(x1, y4)=[(a / 2+w1) / d1,-tan(θ c -θ1)]…(6)

[0048] It should be noted that the distances d1 and w1 are fixed values, which means that at least the corresponding steel plates P are placed in approximately the same position. In the case where the placement position of the steel plate P is considered to change, template information T is independently prepared in advance for multiple different distances d1 and w1, and the template information T can be used when matching with the graphics of the plate component information R1 to R3 described later. Similarly, for the distance h from the (surface) of the topmost steel plate P to the image acquisition unit 5, multiple template information T is also prepared in advance according to multiple different distances h, and the template information T can be used when matching with the graphics of the plate component information R1 to R3. In addition, for example, when the image acquisition unit 5 is arranged directly above the steel plate P, the angle θc formed by the center of the viewing angle and the plumb line is set to 0, and the y-axis direction distance d1 from the image acquisition unit 5 to the topmost steel plate P is set to a negative value for calculation.

[0049] Next, use Figure 7 to Figure 9 The content of the calculation process performed by the plate member position calculation unit 10 will be described. In the plate member position calculation unit 10, first, pattern matching between the extracted plate member information R1 to R3 and the created template information T is performed. Figure 7 The peripheral edge detection part 7 of the plate member is used as Figure 4 c) and the three plate member information R1 to R3, that is, the polygon information of the steel plate P, generated by the plate member template information generating unit 9. Figure 5 Conceptual diagram of pattern matching with template information T. In this example, the lower left vertex of the polygon information of the steel plate P is aligned with point 3 of the template information T to perform pattern matching. Figure 7In the pattern matching between the plate component information R3 of a and the template information T, only the coordinates of point 3 are consistent. Figure 7 In the pattern matching between the plate component information R2 of b and the template information T, the coordinates of points 1, 3, and 4 are consistent, but the coordinates of point 2 are inconsistent. Figure 7 In the pattern matching of the plate component information R1 of c and the template T, all vertex coordinates are roughly consistent. Figure 7 The plate member information R1 of c is regarded as the uppermost steel plate P to be loaded and unloaded.

[0050] After selecting (determining) the plate member information R1 of the steel plate P regarded as the uppermost layer in this way, the position of the center of gravity g of the plate member information R1 is calculated. Since the rolled steel plate has uniform thickness and uniform material, the center of gravity position of the steel plate P coincides with the geometric center. In this example, Figure 8 As shown, the intersection of the diagonals of the quadrilateral is taken as the center of gravity g. Since the coordinates of points 1 to 4 are known, the center of gravity coordinates (xg, yg) can also be calculated. After obtaining the center of gravity coordinates (xg, yg) of the top steel plate P in the coordinate system set in the image in this way, they are converted into the center of gravity coordinates (Xg, Yg) of the top steel plate P in the actual space used to set the center of the lifting magnet 2 as described above. The origin in the actual space is set to the position of the image acquisition unit 5 in the horizontal plane. Fig. 9 As shown in FIG. 2 , the horizontal (x-axis direction) viewing angle (angle of viewing angle deviation) of the center of gravity g relative to the viewing angle center θc is set to θ3, as shown in FIG. Fig. 9 As shown in a, the viewing angle (angle of deviation of viewing angle) in the vertical direction (y-axis direction) is set to θ4. The deviation angles of viewing angle θ3 and θ4 are expressed by the following equations 7 and 8, respectively.

[0051] [Mathematical formula 3]

[0052] θ3=Arctan(xg)…(7)

[0053] θ4=Arctan(yg)…(8)

[0054] according to Fig. 9 The geometric relationship shown is expressed by the following equations 9 and 10 for each element of the centroid coordinates (Xg, Yg) in the real space with the image acquisition unit 5 as the origin.

[0055] [Formula 4]

[0056] Xg=h×tan(θ4+θ c )×tanθ3…(9)

[0057] Yg=h×tan(θ4+θ c )…(10)

[0058] After obtaining the center of gravity position of the uppermost steel plate P in the actual space, the lifting magnet 2 is lowered onto the steel plate P after aligning the center of gravity of the steel plate P as described above. Then, in this state, the lifting magnet 2 is energized to magnetize the uppermost steel plate P, and in this state, the uppermost steel plate P is suspended by the crane 1 and loaded and unloaded.

[0059] Thus, in this embodiment, when the top steel plate P among the stacked steel plates (plate members) P is suspended by the crane 1, an image of the stacked steel plates P including the entire top steel plate P is obtained. Then, the position of the top steel plate P is detected by comparing the template information T of the top steel plate P with the image, so that even when steel plates P with a small plate thickness are stacked, the position of the top steel plate P as the suspended object can be correctly detected. In particular, when the top steel plate P is adsorbed and suspended by an adsorption mechanism such as a lifting magnet 2, the stability of the adsorbed and suspended steel plate P can be ensured.

[0060] In addition, the vertical distance h between the uppermost steel plate P and the image acquisition unit 5 is detected, and the template information T is prepared based on the vertical distance h, the size information of the uppermost steel plate P, and the position information of the image acquisition unit 5. Thus, it is possible to obtain appropriate template information T that serves as a standard for the image of the photographed uppermost steel plate P, and as a result, the position of the uppermost steel plate P can be detected more accurately.

[0061] In addition, when the plate member information R1 to R3 is produced by detecting the peripheral portion of the topmost steel plate P from the image of the stacked steel plates P, the plate member information R1 to R3 is compared with the template information T to calculate the position of the topmost plate member. Thus, even when steel plates P with a small plate thickness are stacked, the position of the topmost steel plate P as the suspended object can be correctly detected. In particular, when there are a plurality of plate member information R1 to R3, by comparing these plate member information R1 to R3 with the template information T and calculating the position of the topmost steel plate P based on the plate member information with a higher consistency rate, the position of the topmost steel plate P can be detected more accurately.

[0062] In addition, by detecting the vertical distance h between the top steel plate P and the image acquisition unit 5 and calculating the position of the center of gravity g of the top steel plate P in actual space based on the vertical distance h, it is easy to align the center of the lifting magnet 2 with the center of gravity g of the top steel plate P.

[0063] Example

[0064] In order to evaluate the plate member position detection device, plate member conveying method and plate member manufacturing method of the present invention, the following test was conducted. The image acquisition unit (camera) 5 used a 4K camera with about 10 million pixels (3648×2736). In addition, steel plates P1 to P3 of various plate thicknesses with a horizontal dimension of 1.4 m and a vertical dimension of 2.1 m were prepared. Fig.10 As shown, three sheets are pre-stacked. The vertical distance h from the top steel plate P1 (surface) to the image acquisition unit 5 is set to 4.94m, the longitudinal distance d1 between the top steel plate P1 and the image acquisition unit 5 is set to 0.8m, and the lateral distance w1 between the center of gravity of the top steel plate P1 and the origin (viewing angle center) is set to 0.2m. Other conditions are shown in Table 1.

[0065] [Table 1]

[0066] constant value 2θ d 60° <![CDATA[2θ w ]]> 60° <![CDATA[θ c ]]> 30° h 4.94m a 1.4m b 2.1m d1 0.8m w1 0.2m

[0067] The embodiment of the present invention utilizes the above-mentioned implementation mode ( Figure 3 ) of the steel plate position detection device, the comparative example will use Figure 3 The plate member detected by the plate member peripheral portion detection unit 7 is directly regarded as the topmost steel plate P1. That is, in the steel plate position detection device of the embodiment, the template information T prepared according to the conditions of Table 1 and the detected plate member information R1 to R3 are pattern matched to determine the topmost steel plate P1. First, as Fig.10 As shown, three steel plates with a thickness of t20 are stacked, and the center of gravity position of the uppermost steel plate P1 is calculated using the steel plate position detection devices of the embodiment and the comparative example. The calculation results of the embodiment are shown in Table 2. As can be seen from the table, the center of gravity position of the uppermost steel plate P1 can be detected with high accuracy.

[0068] [Table 2]

[0069]

[0070] In addition, the calculation results of the steel plate position detection device of the comparative example are shown in Table 3. As can be seen from the table, the steel plate position detection device of the comparative example can also detect the center of gravity position of the uppermost steel plate P1 with high accuracy.

[0071] [Table 3]

[0072]

[0073] Then, if Fig.10As shown in the figure, three steel plates with thicknesses of t20, t10, and t5 are stacked in order from the bottom, and the center of gravity position of the steel plate P1 on the top layer is calculated using the steel plate position detection device of the embodiment and the comparative example. That is, the thickness of the steel plate P1 on the top layer is t5. The calculation results of the embodiment are shown in Table 4. As can be seen from the table, the center of gravity position of the steel plate P1 on the top layer can be detected with high accuracy.

[0074] [Table 4]

[0075]

[0076] In addition, the calculation results of the steel plate position detection device of the comparative example are shown in Table 5. As can be seen from the table, the steel plate position detection device of the comparative example cannot detect the center of gravity position of the uppermost steel plate P1 with high accuracy.

[0077] [Table 5]

[0078]

[0079] As described above, since the peripheral portion of the steel plate P is detected based on the shadow or color change of the overlapping steel plate P in the image, when the thickness of the steel plate P is small, for example, the plate thickness is less than 10 mm, it is difficult to determine the shadow or color change, and as a result, the peripheral portion of the thinner steel plate P may not be detected. Therefore, the topmost steel plate P1 and the steel plates P2 and P3 overlapped thereunder are mistakenly identified as one steel plate, and as a result, the position of the topmost steel plate P1 cannot be correctly detected. That is, the steel plate position detection device of the comparative example cannot distinguish and detect the topmost steel plate P1 from the steel plates P2 and P3 piled thereunder. As a result, the topmost steel plate P1 cannot be determined. In contrast, in the steel plate position detection device of the embodiment, the template information T is prepared to match the various factors of the topmost steel plate P1 and the setting conditions of the steel plate. Then, it can be seen that by performing graphic matching between the prepared template information T and the plate component information R1 to R3, the topmost steel plate P1 can be correctly determined.

[0080] The plate member position detection device, plate member conveying method, and plate member manufacturing method of the embodiment are described above. The present invention is not limited to the structure described in the above embodiment, and various changes can be made within the scope of the gist of the present invention. For example, in the above embodiment, a coordinate system is set in the image, and the image of the steel plate P is geometrically examined in the coordinate system. For example, it is possible to examine where the steel plate P is located in the coordinate system set in the actual space. Similarly, in order to analyze the image of the captured steel plate P, all known methods can be used.

[0081] Description of Reference Numerals

[0082] 1 Crane (suspension device)

[0083] 2 Lifting magnet (adsorption mechanism)

[0084] 3 Control device

[0085] 4 Operation unit

[0086] 5 Image acquisition unit

[0087] 6 Vertical distance detection unit

[0088] 7 Plate member peripheral part detection part

[0089] 8 Information storage unit

[0090] 9 Plate component template information production department

[0091] 10 Plate member position calculation unit

Claims

1. A plate member position detection device for detecting the position of the uppermost plate member among the stacked plate members when the uppermost plate member is suspended by a suspension device, characterized in that: The plate member position detection device includes: an image acquisition unit that acquires an image of the stacked plate members including the entire uppermost plate member; and A calculation unit detects a position of the uppermost plate member by comparing template information of the uppermost plate member prepared in advance with the image.

2. The plate member position detection device according to claim 1, characterized in that: A vertical distance detection unit is provided, wherein the vertical distance detection unit detects the distance between the uppermost plate member and the image acquisition unit in the vertical direction as the vertical distance, The calculation unit includes a plate member template information creation unit configured to create the template information based on the vertical distance, the size information of the uppermost plate member, and the position information of the image acquisition unit.

3. The plate member position detection device according to claim 2, characterized in that: The calculation unit includes a plate member peripheral portion detection unit for detecting the peripheral portion of the uppermost plate member from the image to generate plate member information, and a plate member position calculation unit for comparing the plate member information with the template information to calculate the position of the uppermost plate member.

4. The plate member position detection device according to claim 3, wherein: The plate member peripheral portion detection unit produces a plurality of plate member information of the stacked plate members including the plate member information of the topmost plate member, and the plate member position calculation unit compares the plurality of plate member information with the template information and calculates the position of the topmost plate member based on the plate member information having a high consistency rate with the template information.

5. The plate member position detection device according to claim 4, characterized in that: The plate member position calculation unit calculates the position of the center of gravity of the uppermost plate member in the actual space based on the vertical distance.

6. A plate member transporting method, wherein the uppermost plate member among the stacked plate members is adsorbed and suspended by an adsorption mechanism of a suspension device, and the uppermost plate member is loaded and unloaded, characterized in that: The plate member conveying method comprises: a step of acquiring, by an image acquisition unit, an image of the stacked plate members including the entire uppermost plate member; A step of detecting the position of the uppermost plate member by comparing the pre-made template information of the uppermost plate member with the image; and The step of positioning the suction mechanism based on the detected position of the uppermost plate member, sucking the uppermost plate member by the suction mechanism, and suspending the uppermost plate member by the suspending device to perform loading and unloading transportation.

7. A method for manufacturing a plate member, comprising the step of suspending and loading and unloading the uppermost plate member based on the position of the uppermost plate member detected by the plate member position detection device according to any one of claims 1 to 5.

Images