Measurement system for transported objects in a crane, information processing device, method, and program

Abstract

To accurately measure a carried object by using a distance sensor installed on a crane.SOLUTION: In an overhead crane 1 for suspending and carrying a coil 3 placed in a yard 2, the coil 3 is measured using a two-dimensional laser distance sensor 7 installed on a girder 5 of the overhead crane 1. An information processing device 100 includes: an input unit 101 that inputs information including a position of the coil 3 placed in the yard 2; an acquisition unit 102 that acquires information on an angle of the two-dimensional laser distance sensor 7 by using a calibration body 10 placed in the yard 2; and a measurement unit 104 that runs the girder 5, based on the information inputted by the input unit 101, measures the coil 3 by using the two-dimensional laser distance sensor 7, makes a correction, based on the information on the angle acquired by the acquisition unit 102, and obtains a position of the coil 3.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a measurement system, an information processing device, a method, and a program for measuring an object to be transported by a crane. [Background technology]

[0002] Patent Document 1 discloses a technology for automatically controlling a crane that transports coils in a steelworks. Patent Document 1 discloses a configuration in which, while the automated crane is moving before reaching the approximate location of the coil, a wide-area distance sensor provided on the automated crane measures the correlation distance between the coil and the automated crane and the shape of the coil, and the target point for the initial approximate location of the coil is rewritten to the location of the coil based on the results of measurement by the wide-area distance sensor. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-52019 Summary of the Invention [Problem to be solved by the invention]

[0004] When measuring a transported object such as a coil using a distance sensor installed on a crane, if the angle of the distance sensor is not properly calibrated, the transported object cannot be measured accurately.

[0005] The present invention has been made in view of the above-mentioned points, and has an object to enable accurate measurement of a transported object using a distance sensor installed on a crane. [Means for solving the problem]

[0006] The measurement system for a transported object in a crane of the present invention is a measurement system for a transported object in a crane that can travel, move sideways, and hoist up, and that suspends and transports an object placed in a storage area, and includes a laser distance sensor that is installed on the traveling body of the crane or on a traverse body that moves sideways along the traveling body, and that captures the transported object in three dimensions as the crane moves, and ... storage area. 3 or more The system is characterized by comprising a rectangular parallelepiped calibration body, an acquisition means for acquiring information regarding the angle of the distance sensor using the calibration body placed in the storage area, and a measurement means for moving the traveling body based on information including the position of the transported item in the storage area, measuring the transported item using the distance sensor, making corrections based on the information regarding the angle acquired by the acquisition means, and determining the position of the transported item. The information processing device of the present invention is an information processing device that is installed on a traveling body of a crane or a traverse body that traverses along the traveling body, and is used to measure the transported object using a laser distance sensor that captures the transported object in three dimensions as the crane moves, in a crane that suspends and transports a transported object placed in a storage yard and is capable of traveling, traversing, and hoisting. The information processing device includes: an input means for inputting information including the position of the transported object in the storage yard; 3 or more The system is characterized by comprising an acquisition means for acquiring information regarding the angle of the distance sensor using a rectangular parallelepiped calibration body, and a measurement means for moving the traveling body based on the information input by the input means, measuring the transported object using the distance sensor, making corrections based on the information regarding the angle acquired by the acquisition means, and determining the position of the transported object. The information processing method of the present invention is an information processing method used to measure an object to be transported in a crane that is capable of traveling, moving sideways, and hoisting, and that suspends and transports an object placed in a storage yard, using a laser distance sensor that is installed on a traveling body of the crane or on a traverse body that moves sideways along the traveling body, and that captures the object to be transported in three dimensions as the crane moves, the information processing method comprising the steps of inputting information including the position of the object to be transported in the storage yard, and 3 or moreThe method includes the steps of: acquiring information about the angle of the distance sensor using a rectangular parallelepiped calibration body; running the traveling body based on the input information, measuring the transported object using the distance sensor, making corrections based on the acquired information about the angle, and determining the position of the transported object. The program of the present invention is a program used for measuring an object to be transported using a laser distance sensor that is installed on a traveling body of a crane or a traverse body that traverses along the traveling body, for a crane that suspends and transports an object placed in a storage yard, using a laser distance sensor that captures the object in three dimensions as the crane moves, and includes an input means for inputting information including the position of the object in the storage yard, and a laser distance sensor that is installed on a traveling body of the crane or a traverse body that traverses along the traveling body, for measuring the object to be transported. 3 or more The computer functions as a measuring means that uses a rectangular parallelepiped calibration body to acquire information regarding the angle of the distance sensor, moves the traveling body based on the information input by the input means, measures the transported object using the distance sensor, makes corrections based on the information regarding the angle acquired by the acquisition means, and determines the position of the transported object. [Effects of the Invention]

[0007] According to the present invention, the distance sensor installed on the crane can be used to accurately measure the distance of the transported object. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a diagram showing a schematic configuration of a measurement system for a transported object in an overhead crane according to an embodiment. [Figure 2] 1 is a diagram showing a schematic configuration of a measurement system for a transported object in an overhead crane according to an embodiment. [Figure 3] FIG. 10 is a diagram showing an example of the arrangement of coils placed in a yard. [Figure 4] FIG. 1 is a diagram illustrating a functional configuration of an information processing apparatus according to an embodiment. [Figure 5] FIG. 2 is a diagram for explaining the angle of a two-dimensional laser distance sensor. [Figure 6] FIG. 10 is a diagram showing an example of the arrangement of calibration bodies placed in a yard. [Figure 7] FIG. 10 is a diagram conceptually showing the processing contents for determining the position of a coil. [Figure 8] 10A and 10B are diagrams for explaining an example of a process for calculating the center position of a coil. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. 1 and 2 show a schematic configuration of a measurement system for a transported object in an overhead crane 1 according to an embodiment. Also, Fig. 3 shows an example of the arrangement of a coil 3, which is a transported object, placed in a yard 2. Fig. 3(a) is a view from the z direction, and Fig. 3(b) is a view from the x direction. In this embodiment, the transport work of a coil 3 in a steelworks is taken as an example. The coil 3, which is made by rolling a metal plate into a roll, is placed in a storage area called a yard 2 inside a building. An overhead crane 1 suspends and transports the coil 3 placed in the yard 2.

[0010] As shown in Figure 2, the overhead crane 1 includes a pair of rails 4, a girder 5 that travels on the rails 4 and moves above the yard 2, and a cart (crab trolley) 6 equipped with a hoisting device and a traverse device that travels on rails 12 arranged along the girder 5. The rails 4 are installed on a structure called a traveling girder that is installed in the building. The girder 5 is also sometimes called a traverse girder. The girder 5 is equipped with an information processing device 100 that is used to measure the coil 3. Although the information processing device 100 is described as being mounted on the girder 5, this is not limitative, and the information processing device 100 may be installed on the ground, for example.

[0011] 1 and 2, a two-dimensional laser distance sensor 7 is installed on the girder 5, which is a traveling body, to measure the coil 3 placed in the yard 2. The two-dimensional laser distance sensor 7 is positioned to irradiate laser light toward the yard 2, and measures the distance using the reflection of the laser light. Information on the distance measured by the two-dimensional laser distance sensor 7 is transmitted to the information processing device 100.

[0012] As shown in FIG. 1, a distance meter 8 is installed at the end of the girder 5, and a reflector 9 is installed at the end of the rail 4. The running position of the girder 5 can be measured by the distance meter 8 and the reflector 9. Although not shown in the figures, the traverse position of the bogie 6 can be measured in a similar manner. Note that although an example using a distance meter and a reflector has been described, the running position and traverse position may also be measured by determining the distance using, for example, a tachometer linked to the wheel.

[0013] Here, absolute coordinates are defined with the running direction 11 of the girder 5 (extension direction of the rail 4) as the x-axis, the traverse direction as the y-axis, and the height direction as the z-axis. As shown in Figure 3, in the yard 2, the coil 3 is placed so that its axial direction is the x-axis. Also, as shown in Figure 1, the scanning direction of the two-dimensional laser distance sensor 7 is the y-axis. In this way, by running the girder 5 in the x-axis direction and scanning in the y-axis direction with the two-dimensional laser distance sensor 7, it is possible to measure the coil 3 placed in the yard 2. This makes it possible to capture the coil 3 in three dimensions and detect the position, size (width, length, height), posture, etc. of the coil 3. It is acceptable if one two-dimensional laser distance sensor 7 can scan the entire area in the y-axis direction, but multiple two-dimensional laser distance sensors 7 may be arranged along the length of the girder 5 depending on the length (dimension in the y-axis direction) of the girder 5. Also, the two-dimensional laser distance sensor 7 may be installed on a carriage 6, which is a traversing body that travels (in the y-axis direction) along the girder 5, to scan the y-axis direction.

[0014] Next, a description will be given of the information processing device 100. FIG. The information processing device 100 includes an input unit 101, an acquisition unit 102, a storage unit 103, a measurement unit 104, and an output unit 105. The information processing device 100 is configured by a computer device including, for example, a CPU, a ROM, a RAM, etc., and the functions of the units 101 to 105 are realized by the CPU executing a predetermined program.

[0015] The input unit 101 receives coil information, including the position of the coil 3 placed in the yard 2 and the size of the coil 3, from a host computer (not shown), for example, via wireless communication. The position of the coil 3 is expressed in absolute coordinates. The input unit 101 also receives information about the distance measured by the two-dimensional laser distance sensor 7.

[0016] The acquisition unit 102 uses a calibration body 10 placed in the yard 2 to acquire information regarding the angle of the two-dimensional laser distance sensor 7 based on the distance information measured by the two-dimensional laser distance sensor 7 input by the input unit 101. Here, the angles of the two-dimensional laser distance sensor 7 will be described with reference to Fig. 5. As shown in Fig. 5(a), roll is the angle around the x-axis direction of the two-dimensional laser distance sensor 7. Furthermore, as shown in Fig. 5(b), pitch is the angle around the y-axis direction of the two-dimensional laser distance sensor 7. Furthermore, as shown in Fig. 5(c), yaw is the angle around the z-axis direction of the two-dimensional laser distance sensor 7.

[0017] Next, the calibration body 10 will be described with reference to FIG. 6. The calibration body 10 is, for example, a cubic metal box. FIG. 6 shows an example of the arrangement of the calibration bodies 10 placed in the yard 2, where (a) is a view from the x direction, (b) is a view from the y direction, and (c) is a view from the z direction. As shown in FIG. 6(c), three calibration bodies 10 are placed at known positions such that the lines connecting their centers form a right angle. For example, the three calibration bodies 10 are placed at absolute coordinates (0,0,0), (X,0,0), and (0,Y,0), respectively. X and Y may be set to appropriate values. It is preferable that the calibration bodies 10 be fixed using a predetermined fixing member to prevent their positions from shifting. Although the calibration body 10 has been described as being a cubic box, it may instead have a framework that forms each side of the cube, with a panel provided only on the surface that is irradiated with the laser light of the two-dimensional laser distance sensor 7. The size of the calibration body 10 may be determined appropriately depending on the size of the coil 3, etc. In this embodiment, the calibration body 10 is a cube of approximately 50 cm x 50 cm x 50 cm, taking into account that most coils 3 have a diameter of approximately 1 m to 2 m.

[0018] By running the girder 5 in the x-axis direction and scanning the two-dimensional laser distance sensor 7 in the y-axis direction to measure the calibration body 10 placed in the yard 2, the acquisition unit 102 can acquire information regarding the angle of the two-dimensional laser distance sensor 7. For the roll, as shown in Fig. 6(a), the angle to adjust the height of two calibration bodies 10 aligned in the y-axis direction is determined so that they are the same in the measurement results of the two-dimensional laser distance sensor 7. Note that, although an example has been described in which the heights of the two calibration bodies 10 are adjusted so that they are the same, if, for example, the floor of the yard 2 is not flat, the heights of the two calibration bodies 10 may be adjusted so that there is a predetermined difference between them. Regarding the pitch, as shown in Fig. 6(b), the angle for adjusting the pitch is found so that the heights of two calibration bodies 10 aligned in the x-axis direction are the same in the measurement results of the two-dimensional laser distance sensor 7. Note that, although an example has been described in which the heights of the two calibration bodies 10 are adjusted so that they are the same, if, for example, the floor of the yard 2 is not flat, the heights of the two calibration bodies 10 may be adjusted so that there is a predetermined difference between them. For yaw, as shown in Fig. 6(c), the angle for adjusting the inclination of the line connecting the centers of two calibration bodies 10 aligned in the x-axis direction and the line connecting the centers of two calibration bodies 10 aligned in the y-axis direction is calculated so as to match the vertical and horizontal directions in the measurement results obtained by the two-dimensional laser distance sensor 7. Note that the offset may be adjusted to align the origin, if necessary. The acquisition unit 102 acquires the roll, pitch, and yaw angles in the manner described above, and stores each angle in the storage unit 103 .

[0019] The memory unit 103 stores information about the angles of the two-dimensional laser distance sensor 7 (roll, pitch, and yaw angles) acquired by the acquisition unit 102 as described above. The memory unit 103 also stores information about deformation of the overhead crane 1 (the amount of flexure and distortion of the rails 4 and 12). The amount of flexure and distortion of the rails 4 and 12 is measured in advance using a tape measure or the like.

[0020] Based on the coil information input by the input unit 101, the measurement unit 104 moves the girder 5 and measures the coil 3 using the two-dimensional laser distance sensor 7. At this time, the measurement unit 104 performs correction based on information about the angle of the two-dimensional laser distance sensor 7 stored in the memory unit 103 and information about the deformation of the overhead crane 1, and determines the position of the coil 3. In other words, the measurement unit 104 performs correction on the position of the coil 3 measured using the two-dimensional laser distance sensor 7 based on the roll, pitch, and yaw angles and the amount of flexure and distortion of the rails 4 and 12, and determines the position of the coil 3.

[0021] Figure 7 conceptually shows the process for determining the position of coil 3. As described above, the angles (roll, pitch, and yaw angles) 701 of the two-dimensional laser distance sensor 7 are determined using the calibration body 10. In addition, deformation 702 of the overhead crane 1 (the amount of flexure and distortion of rails 4 and 12) is determined through prior measurement. As a result, the position 704 of coil 3 measured using the two-dimensional laser distance sensor 7 is corrected based on the roll, pitch, and yaw angles and the amount of flexure and distortion of rails 4 and 12, and the position of coil 3 can be determined as shown by solid line 703.

[0022] When determining the position of the coil 3, for example, the center position of the coil 3 may be calculated. FIG. 8 is a diagram illustrating an example of a process for calculating the center position of the coil 3. As shown in FIG. 8(a), a rectangular area 801 in which the coil 3 exists is determined from the results (after correction) of measuring the coil 3 using the two-dimensional laser distance sensor 7. As shown in FIG. 8(b), the rectangular area 801 is scanned in the y direction, and the coordinates of the positions (vertex positions) 802 where the height is maximum for each x coordinate are determined. Because the vertices of the coil 3 have good reflectivity, measurement results with relatively high accuracy are likely to be obtained at the vertex positions 802. As shown in FIG. 8(c), a linear equation representing a line 803 is determined using the least squares method from the coordinates of the vertex positions 802. The slope of this linear equation corresponds to the slope of the coil 3. As shown in FIG. 8(d), the first and last detected positions of the coil 3 on the linear equation representing the line 803 are defined as two edges 804 of the coil 3. The center of the two edges 804 is then defined as the center position of the coil 3.

[0023] The output unit 105 outputs various information, including the position of the coil 3 determined by the measurement unit 104. Output means, for example, displaying the information on a display device or transmitting the information to an external device.

[0024] As described above, the angle of the two-dimensional laser distance sensor 7 can be calibrated simultaneously with the measurement of the coil 3 placed in the yard 2, and the results of the calibration can be reflected to accurately measure the coil 3. The acquisition process using the calibration bodies 10 by the acquisition unit 102 is not only performed when the two-dimensional laser distance sensor 7 is initially installed, but also every time the coil 3 is measured, or, for example, periodically. This is because the two-dimensional laser distance sensor 7 may be misaligned due to crane vibrations or the like. The three calibration bodies 10 are placed and fixed in the yard 2 when the two-dimensional laser distance sensor 7 is initially installed, but can then be removed and reinstalled when needed, or can be left installed permanently.

[0025] In this embodiment, the description has been given of a measurement system for transported objects in the overhead crane 1, but the functions of the measurement system for transported objects in the overhead crane to which the present invention is applied may also be included in the automatic control system of the overhead crane. In the automatic control system of the overhead crane, the position of the coil 3 determined by the measurement unit 104 may be set as the gripping position, and the overhead crane 1 may be automatically controlled. Furthermore, in this embodiment, an overhead crane 1 has been described, but the present invention may be applied to any crane that is capable of traveling, traversing, and hoisting, and may also be applied to, for example, a bridge crane.

[0026] Although the present invention has been described above with reference to the embodiments, the above embodiments are merely illustrative of specific examples of how the present invention can be implemented, and the technical scope of the present invention should not be construed as being limited by these embodiments. In other words, the present invention can be implemented in various forms without departing from its technical concept or main features. In the above embodiment, the yard 2 was described as a storage location, but a mobile cart, a transport table, or a transport vehicle (truck) may also be used. The transported object is not limited to the coil 3, but may be, for example, a metal plate. Furthermore, although the transport of the coil 3 in a steelworks was used as an example, the application of the present invention is not limited, and the storage location and the transported object are not limited. Furthermore, the information processing device to which the present invention is applied is not limited to being configured as a single device, but may be configured, for example, as a plurality of devices. In addition, the functions of an information processing device to which the present invention is applied can also be realized by supplying software (programs) to a system or device via a network or various storage media, and having the computer of that system or device read and execute the programs. [Explanation of symbols]

[0027] 1: Overhead crane, 2: Yard, 3: Coil, 4: Rail, 5: Girder, 6: Cart (club trolley), 7: Two-dimensional laser distance sensor, 8: Distance meter, 9: Reflector, 10: Calibration body, 11: Travel direction, 12: Rail, 100: Information processing device, 101: Input unit, 102: Acquisition unit, 103: Memory unit, 104: Measurement unit, 105: Output unit

Claims

1. A measurement system for a transported object in a crane that can travel, move sideways, and hoist up, which suspends and transports an object placed in a storage area, a laser distance sensor that is installed on a traveling body of the crane or on a traverse body that travels traversely along the traveling body, and that captures the transported object in three dimensions as the crane moves; Three or more rectangular parallelepiped calibration bodies placed in the storage area; an acquisition means for acquiring information about the angle of the distance sensor using the calibration body placed in the storage area; a measuring means for measuring the position of the transported object by moving the traveling body based on information including the position of the transported object in the storage area, measuring the transported object using the distance sensor, and making corrections based on information regarding the angle acquired by the acquisition means to determine the position of the transported object.

2. 2. The measurement system for a transported object in a crane according to claim 1, wherein the acquisition means acquires information relating to the roll, pitch, and yaw of the distance sensor.

3. The measurement system for measuring transported objects in a crane as described in claim 1 or 2, characterized in that the measurement means moves the traveling body based on information including the position of the transported object in the storage area, measures the transported object using the distance sensor, and performs correction based on information about the angle acquired by the acquisition means and information about deformation of the crane that has been measured in advance, to determine the position of the transported object.

4. An information processing device used to measure a transported object using a laser distance sensor that is installed on a traveling body of the crane or a traverse body that traverses along the traveling body in a crane that suspends and transports the transported object placed in a storage area and that is capable of traveling, traversing, and hoisting, and that captures the transported object in three dimensions as the crane moves, an input means for inputting information including the position of the transported item in the storage area; an acquisition means for acquiring information about the angles of the distance sensors using three or more rectangular parallelepiped calibration bodies placed in the storage area; an information processing device comprising: a measuring means for moving the moving body based on the information input by the input means, measuring the transported object using the distance sensor, making corrections based on information about the angle acquired by the acquisition means, and determining the position of the transported object.

5. 5. An information processing apparatus according to claim 4, wherein said input means inputs said information from a host computer.

6. An information processing method for measuring an object to be transported, using a laser distance sensor installed on a traveling body of the crane or a traverse body that travels traversely along the traveling body, for capturing the object to be transported in three dimensions as the crane moves, in a crane that suspends and transports an object to be transported placed in a storage area and is capable of traveling, traversing, and hoisting, inputting information including the location of the transported item in the storage area; acquiring information about the angles of the distance sensors using three or more rectangular parallelepiped calibration bodies placed in the storage area; An information processing method characterized by comprising the steps of: running the traveling body based on the input information, measuring the transported object using the distance sensor, making corrections based on the acquired information about the angle, and determining the position of the transported object.

7. A program used to measure a transported object using a laser distance sensor that is installed on a traveling body of a crane or a traverse body that travels traversely along the traveling body in a crane that suspends and transports a transported object placed in a storage area, and that captures the transported object in three dimensions as the crane moves, an input means for inputting information including the position of the transported item in the storage area; an acquisition means for acquiring information about the angles of the distance sensors using three or more rectangular parallelepiped calibration bodies placed in the storage area; A program for causing a computer to function as a measurement means for determining the position of the transported object by running the traveling body based on the information input by the input means, measuring the transported object using the distance sensor, and making corrections based on the information regarding the angle acquired by the acquisition means.

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