Surface profile measuring device and surface profile measuring method

Abstract

A surface shape measurement device 10 measures the shape of a surface 31 of a belt 30 driven in the traveling direction by a driving device 20. The surface shape measurement device 10 includes: laser sensors 11 positioned on the surface 31 side of the belt 30, the laser sensors 11 measuring the shape of the surface 31 of the belt 30 by irradiating the surface 31 of the belt 30 with laser beams 43 and detecting laser beams 46 reflected or scattered at the surface 31 of the belt 30; and a calculation device 12 that generates surface shape data on the basis of measurement data of the shape of the surface 31 of the belt 30 obtained by the laser sensors 11. The laser sensors 11 are arranged such that, when viewed in the normal direction of the surface 31 of the belt 30, the laser sensors 11 overlap the width-direction ends 32 of the belt 30 or areas further outward in the width direction than the width-direction ends 32 of the belt 30.

Description

[Technical Field]

[0001] The present disclosure relates to a surface profile measuring device, a surface profile measuring method, and a belt management method for measuring the surface profile of a belt driven in the traveling direction. [Background technology]

[0002] For example, a belt conveyor having a belt such as a conveyor belt wound around a pair of pulleys is known as a conveying device for conveying materials such as raw materials. In a belt conveyor, the conveyor belt may meander during long-term operation, causing the end of the conveyor belt to come into contact with the frame, resulting in defects, also known as edge cuts, at the end of the conveyor belt. To prevent the conveyor belt from breaking due to such edge cuts, it is necessary to periodically manage the surface shape, such as the thickness of the conveyor belt, as a condition of the conveyor belt.

[0003] As a method for measuring the surface shape of a conveyor belt, such as its thickness, Patent Documents 1 and 2 disclose an apparatus for measuring the unevenness of the surface of a conveyor belt by a light cutting method using a laser beam. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-32346 [Patent Document 2] Japanese Patent Publication No. 2020-76767 Summary of the Invention [Problem to be solved by the invention]

[0005] In the devices of Patent Documents 1 and 2, the center of the laser light irradiation range is located on the inner side of the widthwise edge of the belt. Because the belt has a thickness of several tens of millimeters (mm), a step occurs between the belt and the pulley. When the center of the laser light irradiation range is located on the inner side of the widthwise edge of the belt, the step occurs between the belt and the pulley, creating a blind spot where the laser light is not irradiated at the boundary between the widthwise edge of the belt and the pulley. The creation of a blind spot may reduce the accuracy of measuring the belt surface shape.

[0006] In view of the above circumstances, an object of the present disclosure is to provide a surface profile measuring device, a surface profile measuring method, and a belt management method that can measure the surface profile of a belt with high accuracy. [Means for solving the problem]

[0007] According to one embodiment of the present disclosure, (1) a surface profile measuring device measures the profile of a surface of a belt driven in a traveling direction by a drive device. The surface profile measuring device includes one or more laser sensors positioned on the surface side of the belt, irradiating a laser beam toward the surface of the belt and detecting the laser beam reflected or scattered by the surface of the belt to measure the profile of the surface of the belt, and a computing device that generates surface profile data representing the profile of the surface of the belt based on measurement data of the profile of the belt surface obtained by the laser sensors. At least one of the one or more laser sensors is positioned so as to overlap a widthwise edge of the belt or a range outside the widthwise edge of the belt when viewed in a direction normal to the surface of the belt.

[0008] (2) In the surface shape measuring device described in (1) above, when the laser sensor is positioned so that it overlaps a range outside the widthwise end of the belt when viewed in the normal direction of the belt surface, the laser sensor may be positioned so that the widthwise end of the belt is included in the irradiation range of the laser light.

[0009] (3) In the surface shape measuring device described in (1) above, when the laser sensor is positioned so as to overlap the widthwise end of the belt when viewed in the normal direction of the belt surface, the laser sensor may be positioned so that at least a portion of the outer shape of the laser sensor overlaps the widthwise end of the belt.

[0010] (4) In the surface shape measuring device described in (3) above, the laser sensor may be positioned so that the widthwise end of the belt is included in the range irradiated by the component of the laser light that travels in a direction normal to the surface of the belt.

[0011] (5) In the surface shape measuring device described in any one of (1) to (4) above, the laser sensor may be positioned so that the angle between the direction of travel of the laser light incident on the widthwise end of the belt and the normal direction of the belt surface is equal to or less than an upper angle limit determined according to the accuracy required for measuring the shape of the belt surface.

[0012] (6) In the surface profile measuring device described in any one of (1) to (5) above, the driving device may be a pulley. The belt may be wound around the pulley. An end of the pulley in the width direction of the belt may be located outside the end of the belt in the width direction. The laser sensor may be disposed so that an area irradiated with a component of the laser light traveling in a direction normal to the surface of the belt is located between the end of the belt in the width direction and the end of the pulley.

[0013] (7) In the surface profile measuring device described in (6) above, the laser sensor may measure the profile of the belt surface by detecting the laser light reflected or scattered at a portion where the belt contacts the pulley, and the arithmetic unit may generate the surface profile data at the portion where the belt contacts the pulley.

[0014] (8) In the surface profile measuring device according to any one of (1) to (7), the laser sensor may measure the profile of the belt surface by irradiating the belt surface with the laser light while the belt is being driven in the traveling direction, and detecting the laser light reflected or scattered at each position on the belt surface along the traveling direction. The arithmetic unit may generate surface profile data of the belt surface along the traveling direction.

[0015] (9) In the surface profile measuring device according to any one of (1) to (8) above, at least one laser sensor may be disposed on each of both ends of the belt in the width direction.

[0016] (10) In the surface shape measuring device described in (9) above, the laser sensors may be positioned so that the entire width of the belt is included in the irradiation range of the laser light irradiated from at least one laser sensor when viewed in the direction of travel of the belt.

[0017] (11) In the surface shape measuring device described in (9) or (10) above, the arithmetic device may generate surface shape data for the entire width direction of the belt by combining the measurement data of each of the multiple laser sensors.

[0018] (12) In the surface shape measuring device described in any one of (9) to (11) above, when the irradiation ranges of the laser light irradiated from each of the plurality of laser sensors overlap when viewed in the traveling direction of the belt, the plurality of laser sensors may be arranged so that the irradiation ranges of the laser light irradiated from each of the plurality of laser sensors do not overlap when viewed in the width direction of the belt.

[0019] A surface profile measuring method (13) according to an embodiment of the present disclosure is a method for measuring the shape of the surface of the belt using the surface profile measuring device according to any one of (1) to (12) above. The surface profile measuring method includes the steps of irradiating the surface of the belt with the laser light from the laser sensor, detecting the laser light reflected or scattered by the surface of the belt with the laser sensor, and measuring the shape of the surface of the belt, and generating surface profile data representing the shape of the surface of the belt based on measurement data of the shape of the surface of the belt measured by the laser sensor.

[0020] (14) A belt management method according to an embodiment of the present disclosure includes a step of managing the belt based on the surface shape data generated by the surface shape measurement method described in (13) above. [Effects of the Invention]

[0021] According to the surface profile measuring device, the surface profile measuring method, and the belt management method of the present disclosure, the surface profile of a belt can be measured with high accuracy. [Brief explanation of the drawings]

[0022] [Figure 1] 1 is a block diagram illustrating an example of the configuration of a surface profile measuring apparatus according to the present disclosure. [Figure 2] 1 is a schematic diagram illustrating an example of the configuration of a surface profile measuring device according to the present disclosure. [Figure 3] 3 is a side view of the configuration example of FIG. 2 as seen in plan on a plane including the traveling direction of the belt. [Figure 4] 3 is a front view of the configuration example of FIG. 2 as seen in a plane including the width direction of the belt. [Figure 5A] FIG. 10 is a front view showing the arrangement of laser sensors according to a comparative example. [Figure 5B] FIG. 5B is an enlarged view of the framed area A in FIG. 5A. [Figure 6A] FIG. 10 is a front view of a laser sensor positioned so that the edge of the belt is included in the irradiation range of the laser light. [Figure 6B]FIG. 10 is a front view of a laser sensor positioned so that at least a portion of the outer shape of the laser sensor overlaps with an edge of the belt in the width direction when viewed from the normal direction of the belt surface. [Figure 6C] FIG. 10 is a front view of a laser sensor positioned so that an irradiating portion of the laser sensor overlaps an edge of the belt in the width direction when viewed from the normal direction of the belt surface. [Figure 7] 1 is a flowchart illustrating an example of a procedure for a surface shape measuring method according to the present disclosure. [Figure 8] FIG. 1 is a schematic diagram showing an example of a configuration including three laser sensors. [Figure 9A] FIG. 10 is a front view showing an example of a configuration in which two laser sensors are arranged so that the irradiation ranges of the two laser sensors overlap each other in the width direction. [Figure 9B] FIG. 10 is a side view showing an example of a configuration in which two laser sensors are arranged so that the irradiation ranges of the two laser sensors are offset in the traveling direction. [Figure 10A] 10 is a graph showing an example of the height of the belt surface measured by the first sensor when the irradiation range of the first sensor and the irradiation range of the second sensor are separated by 20 mm in the belt traveling direction. [Figure 10B] 10 is a graph showing an example of a measurement value of the height of the belt surface by the second sensor when the irradiation range of the first sensor and the irradiation range of the second sensor are separated by 20 mm in the traveling direction of the belt. [Figure 11A] 10 is a graph showing an example of the height of the belt surface measured by the first sensor when the irradiation range of the first sensor and the irradiation range of the second sensor are separated by 45 mm in the belt traveling direction. [Figure 11B] 10 is a graph showing an example of a measurement value of the height of the belt surface by the second sensor when the irradiation range of the first sensor and the irradiation range of the second sensor are separated by 45 mm in the belt traveling direction. DETAILED DESCRIPTION OF THE INVENTION

[0023] Hereinafter, embodiments of a surface profile measuring device 10, a surface profile measuring method, and a belt management method according to the present disclosure will be described with reference to the drawings. The drawings are schematic and may differ from the actual product. The same reference numerals are used to designate the same or corresponding parts in the drawings. In the present disclosure, descriptions of the same or corresponding parts will be omitted or simplified as appropriate.

[0024] (Embodiment of Surface Profile Measuring Apparatus 10 According to the Present Disclosure) As shown in FIG. 1 , a surface profile measuring apparatus 10 according to an embodiment of the present disclosure includes a laser sensor 11 and a computing device 12. As shown in FIGS. 2 , 3 , and 4 , the surface profile measuring apparatus 10 measures the profile of the surface 31 of a conveyor belt 30 of a belt conveyor by irradiating the surface 31 with laser light 43 that spreads over an irradiation range 45. In other words, the measurement target of the surface profile measuring apparatus 10 is the belt conveyor. The number of laser sensors 11 may be one, or two or more. In other words, the surface profile measuring apparatus 10 includes one or more laser sensors 11.

[0025] <Belt conveyor configuration example> An example of the configuration of a belt conveyor that is the object of measurement by the surface profile measuring device 10 will be described below. The belt conveyor includes a conveyor belt 30 and pulleys 20. The conveyor belt 30 is wound around a pair of pulleys 20. The conveyor belt 30 moves in the direction of travel as the pulleys 20 rotate, and moves the objects placed on the surface 31 of the conveyor belt 30. The surface 31 of the conveyor belt 30 is the outer surface that does not come into contact with the pulleys 20. The shape of the surface 31 of the conveyor belt 30 is also simply referred to as the surface profile.

[0026] The pulley 20 rotates around the rotation axis 22 to move the conveyor belt 30 wound around the pulley 20 in the traveling direction. The pulley 20 is an example of a means for driving the conveyor belt 30, and is also referred to as a drive device. The pulley 20 may be replaced with various other means capable of driving the conveyor belt 30 in the traveling direction. In other words, the drive device is not limited to the pulley 20 and may be configured to include various other devices.

[0027] The pulley 20 protrudes outward in the width direction of the conveyor belt 30 beyond the end 32 of the conveyor belt 30. In other words, the end 24 (see FIG. 4) of the pulley 20 at the end 32 in the width direction of the conveyor belt 30 is located outward from the end 32 in the width direction of the conveyor belt 30.

[0028] The conveyor belt 30 is an example of a belt of a belt conveyor that carries and moves objects in a traveling direction. The conveyor belt 30 is also simply called a belt.

[0029] The traveling direction of the conveyor belt 30 is the direction in which the conveyor belt 30 moves due to the driving force received from the pulley 20. The traveling direction of the conveyor belt 30 corresponds to the direction in which the pair of pulleys 20 are lined up between the pair of pulleys 20. The traveling direction of the conveyor belt 30 corresponds to the direction in which the pulley 20 rotates at the portion where the conveyor belt 30 is wound around the pulley 20. When an object is loaded on the surface 31 of the conveyor belt 30, the object is transported together with the conveyor belt 30 in the traveling direction of the conveyor belt 30. In other words, the transport direction of the object corresponds to the traveling direction of the conveyor belt 30. Therefore, the traveling direction of the conveyor belt 30 is also referred to as the transport direction.

[0030] The traveling direction of the conveyor belt 30 corresponds to the longitudinal direction of the conveyor belt 30. The width direction of the conveyor belt 30 corresponds to the short side direction of the conveyor belt 30. The width direction of the conveyor belt 30 is defined as the direction intersecting the traveling direction of the conveyor belt 30 in which the external length of the conveyor belt 30 is the shortest. Therefore, the width direction of the conveyor belt 30 is a direction approximately perpendicular to the traveling direction of the conveyor belt 30.

[0031] In operation of a belt conveyor, the thickness of the conveyor belt 30 needs to be managed so that the conveyor belt 30 does not break. The thickness of the conveyor belt 30 can be calculated from the surface profile measured by the surface profile measuring device 10. The surface profile is a shape that includes the irregularities of the surface 31 of the conveyor belt 30. For example, a portion of the surface 31 of the conveyor belt 30 that is recessed from the surrounding area corresponds to a portion where the thickness of the conveyor belt 30 is thinner than the surrounding area. A portion of the conveyor belt 30 where the thickness is zero corresponds to a portion where the conveyor belt 30 has a defect such as a hole.

[0032] <Configuration Example of Surface Profile Measuring Device 10> An example configuration of a surface profile measuring device 10 that measures the surface profile of a conveyor belt 30 of a belt conveyor will be described below. As described above, the surface profile measuring device 10 includes a laser sensor 11 and a computing device 12. The surface profile measuring device 10 measures the surface profile of the conveyor belt 30 by operating the laser sensor 11 and the computing device 12 in cooperation with each other. The laser sensor 11 and the computing device 12 may be connected via a network such as a LAN (Local Area Network) and configured to be able to transmit and receive information obtained by measurement, i.e., measurement data, to and from each other.

[0033] <<Laser sensor 11>> 1 and 3, the laser sensor 11 includes an irradiating unit 41 and a light receiving unit 42. Strictly speaking, the irradiating unit 41 and the light receiving unit 42 are positioned slightly offset from the surface 31 of the conveyor belt 30, which is the object to be measured, but they can be considered to be positioned in the same place. The laser sensor 11 measures the shape of the surface 31 of the conveyor belt 30 by performing a light cutting method using a laser beam 43.

[0034] Specifically, as shown in Fig. 3, the laser sensor 11 is located on the surface 31 side of the conveyor belt 30. The laser sensor 11 may measure the surface shape of the conveyor belt 30 by irradiating the conveyor belt 30 with laser light 43 from an irradiation unit 41 and detecting, with a light receiving unit 42, laser light 46 that is reflected or scattered by the conveyor belt 30 and returns. The laser sensor 11 can measure the surface shape of the conveyor belt 30 without contacting the conveyor belt 30 by performing a light cutting method. The laser sensor 11 can measure the surface shape of the conveyor belt 30 by calculating the distance to each point on the surface 31 of the conveyor belt 30 and calculating the height of each point on the surface 31.

[0035] The laser sensor 11 outputs measurement data of the surface shape of the conveyor belt 30 to the computing device 12.

[0036] In this embodiment, the laser sensor 11 irradiates the conveyor belt 30 with a line laser beam 43 extending in the width direction of the conveyor belt 30. As shown in FIG. 2, the line laser beam 43 is irradiated to a range indicated as an irradiation range 45 that spreads radially. The laser sensor 11 is disposed so that the central axis 44 of the irradiation range 45 is aligned with the normal direction of the surface 31 of the conveyor belt 30. The laser beam 43 is not limited to a line laser beam, and may be a planar laser beam.

[0037] The laser sensor 11 may irradiate the laser light 43 while the pulley 20 is rotating, i.e., while the conveyor belt 30 is moving in the traveling direction. By irradiating the conveyor belt 30 with the laser light 43 while the conveyor belt 30 is moving, the laser sensor 11 can measure the surface shape along the traveling direction of the conveyor belt 30.

[0038] 4, the surface profile measuring device 10 according to this embodiment includes two laser sensors 11A and 11B so as to be able to measure the entire width of the conveyor belt 30. The two laser sensors 11A and 11B are arranged side by side in the width direction of the conveyor belt 30.

[0039] The range where laser sensor 11A irradiates laser light 43 is represented as irradiation range 45A. The range where laser sensor 11B irradiates laser light 43 is represented as irradiation range 45B. It is desirable that irradiation range 45A and irradiation range 45B overlap each other by several millimeters to several tens of millimeters along the width direction of conveyor belt 30 so that no unmeasured area exists in the width direction of conveyor belt 30. In other words, the laser sensors 11 may be arranged so that the entire width direction of conveyor belt 30 is included in irradiation range 45 of laser light 43 irradiated from at least one laser sensor 11 when viewed in the traveling direction of conveyor belt 30.

[0040] 4, the surface profile measuring apparatus 10 further includes a light-shielding cover 14. The light-shielding cover 14 is disposed to block the component of the laser light 43 directed outward, so that the laser light 43 irradiated onto the irradiation ranges 45A and 45B from the laser sensors 11A and 11B is not irradiated outside the pulley 20.

[0041] 4, two laser sensors 11A and 11B are arranged such that central axes 44A and 44B of irradiation ranges 45A and 45B of laser light 43, respectively, are positioned at widthwise end portions 32 of the conveyor belt 30. That is, at least one laser sensor 11 may be arranged at each of both widthwise ends of the conveyor belt 30. Two laser sensors 11A and 11B may also be arranged such that central axes 44A and 44B of irradiation ranges 45A and 45B of laser light 43, respectively, are positioned in ranges that are more outer than widthwise end portions 32 of the conveyor belt 30.

[0042] To summarize the above, in the surface profile measuring device 10 according to the present disclosure, the two laser sensors 11A and 11B are arranged so that the central axes 44A and 44B of the irradiation ranges 45A and 45B of the laser light 43, respectively, are located at the end 32 in the width direction of the conveyor belt 30 or in a range outside the end 32 in the width direction. In other words, the laser sensor 11 is arranged so as to overlap the end 32 in the width direction of the conveyor belt 30 or in a range outside the end 32 in the width direction when viewed in the normal direction of the surface 31 of the conveyor belt 30.

[0043] 5A and 5B, with the arrangement of the laser sensor 11 according to the comparative example, when the laser light 43 is incident on the end 32 of the conveyor belt 30, a blind spot 43S is generated due to a step between the end 32 of the conveyor belt 30 and the pulley 20, where the laser light 43 is not incident. The generation of the blind spot 43S reduces the intensity of the laser light 46 that is reflected or scattered at the end 32 of the conveyor belt 30 and returns to the laser sensor 11. The reduction in the intensity of the laser light 46 that returns to the laser sensor 11 from the portion whose surface shape is to be measured reduces the measurement accuracy of the surface shape of the portion whose surface shape is to be measured. Therefore, it is necessary to reduce the blind spot 43S in order to prevent a reduction in the measurement accuracy of the surface shape of the end 32 of the conveyor belt 30.

[0044] As shown in FIG. 5B , the smaller the angle θ between the incident direction of laser light 43, represented by the dashed arrow, and the normal direction of surface 31 of conveyor belt 30, represented by the dashed-dotted line, the narrower the blind spot 43S. As described above, θ is reduced by arranging laser sensor 11 so that it overlaps with widthwise end 32 of conveyor belt 30 when viewed in the normal direction of surface 31 of conveyor belt 30. A smaller θ reduces blind spot 43S. Furthermore, when laser light 43 is incident on widthwise end 32 of conveyor belt 30 from the normal direction of surface 31 of conveyor belt 30, blind spot 43S is eliminated. As a result, the measurement accuracy of the surface shape of end 32 of conveyor belt 30 is improved compared to when laser sensor 11 is arranged on the inner side of widthwise end 32 of conveyor belt 30.

[0045] When the laser light 43 is incident on the conveyor belt 30 from outside the end 32 in the width direction, the blind spot 43S is eliminated. That is, the blind spot 43S is eliminated by arranging the laser sensor 11 outside the end 32. As a result, the measurement accuracy of the surface shape of the end 32 of the conveyor belt 30 is improved compared to when the laser sensor 11 is arranged inside the conveyor belt 30 in the width direction.

[0046] As described above, the laser sensor 11 irradiates the conveyor belt 30 with laser light 43 and detects the laser light 46 that is reflected or scattered by the surface 31 of the conveyor belt 30 and returns. The intensity of the laser light 46 that returns from the surface 31 of the conveyor belt 30 varies depending on the angle between the traveling direction of the irradiated laser light 43 and the normal direction to the surface 31 of the conveyor belt 30. Specifically, the smaller the angle between the traveling direction of the irradiated laser light 43 and the normal direction to the surface 31 of the conveyor belt 30, the greater the intensity of the laser light 46 that returns from the surface 31 of the conveyor belt 30. In other words, the closer the angle at which the laser light 43 is incident on the surface 31 of the conveyor belt 30 is to perpendicular, the greater the intensity of the laser light 46 that returns from the surface 31 of the conveyor belt 30.

[0047] Here, defects such as cut edges at the widthwise end 32 of the conveyor belt 30 may cause the conveyor belt 30 to break. Therefore, it is required to improve the measurement accuracy of the surface shape at the widthwise end 32 of the conveyor belt 30. By arranging the laser sensor 11 so that the angle between the traveling direction of the laser light 43 irradiated onto the widthwise end 32 of the conveyor belt 30 and the normal direction of the surface 31 of the conveyor belt 30 becomes small, the intensity of the laser light 46 returning from the widthwise end 32 of the conveyor belt 30 increases. As a result, the measurement accuracy of the surface shape of the widthwise end 32 of the conveyor belt 30 is improved.

[0048] The laser sensor 11 is positioned so that it can irradiate the laser light 43 onto the portion where the conveyor belt 30 is wound around the pulley 20, i.e., the portion where the conveyor belt 30 contacts the pulley 20. In order to measure the surface shape of the conveyor belt 30 in the thickness direction with high accuracy, the laser sensor 11 is positioned so that the direction of incidence of the laser light 43 onto the conveyor belt 30 passes through the center of the rotation shaft 22 of the pulley 20. The center of the rotation shaft 22 of the pulley 20 is indicated by a dashed line in FIG. 4.

[0049] 2 and 3, the laser sensor 11 is disposed so as to irradiate the pulley 20 with laser light 43 from diagonally above. The laser sensor 11 is not limited to the position exemplified in FIGS. 2 and 3, but may be disposed at a position where the conveyor belt 30 contacts the pulley 20, that is, a position where the laser light 43 can be irradiated to any position between the 6 o'clock direction and the 12 o'clock direction of the pulley 20 in the side view of FIG.

[0050] By irradiating the part of the conveyor belt 30 where it contacts the pulley 20 with a laser beam 43 and detecting the laser beam 46 returning from the conveyor belt 30, the surface shape measuring device 10 can measure the surface shape of the conveyor belt 30 which is in a stable position while being wound around the pulley 20.

[0051] When viewed in the normal direction of the surface 31 of the conveyor belt 30, the position where the laser sensor 11 overlaps with the conveyor belt 30 is identified by the position where the central axis 44 of the irradiation range 45 of the laser light 43 emitted from the laser sensor 11 intersects with the surface 31 of the conveyor belt 30. The laser sensor 11 may be disposed so that when viewed in the normal direction of the surface 31 of the conveyor belt 30, the position where the laser sensor 11 overlaps with the conveyor belt 30 is included in a range extending a predetermined distance in the width direction from the end 32 in the width direction of the conveyor belt 30. The predetermined distance may be set to ±50 mm, for example. The predetermined distance may be set depending on the accuracy required for the laser sensor 11 to measure the surface shape of the end 32 in the width direction of the conveyor belt 30.

[0052] Furthermore, the laser sensor 11 may be positioned so that the absolute value of the angle between the traveling direction of the laser light 43 incident on the widthwise end 32 of the conveyor belt 30 and the normal direction to the surface 31 of the conveyor belt 30 is equal to or less than an upper angle limit. The upper angle limit may be determined depending on the accuracy required for measuring the surface shape of the conveyor belt 30. The upper angle limit may be determined depending on the setting of the above-mentioned predetermined distance. For example, if the predetermined distance is set to ±50 mm, the upper angle limit may be set to 3°.

[0053] When the angle between the traveling direction of the laser light 43 and the normal direction to the surface 31 of the conveyor belt 30 is expressed as a positive value in the clockwise or counterclockwise direction, the laser sensor 11 may be disposed so that the angle value falls within an angle range. The angle range may be determined depending on the accuracy required for measuring the surface shape of the conveyor belt 30. The angle range may be determined depending on the setting of the predetermined distance described above. For example, when the predetermined distance is set to 50 mm, the angle range may be set to -3° to +3°.

[0054] Conversely, the above-mentioned predetermined distance may be determined in accordance with the setting of the upper angle limit or angle range.

[0055] 6A , when the laser sensor 11 is disposed so as to overlap an area outside the width direction of the end 32 of the conveyor belt 30 when viewed in the normal direction of the conveyor belt 30, the laser sensor 11 may be disposed so that the end 32 of the conveyor belt 30 in the width direction is included in the irradiation range 45. By including the end 32 of the conveyor belt 30 in the width direction in the irradiation range 45, the laser sensor 11 can measure the surface shape of the end 32 of the conveyor belt 30 in the width direction.

[0056] In the case where the laser sensor 11 is disposed so as to overlap the widthwise end 32 of the conveyor belt 30 when viewed in the normal direction of the conveyor belt 30, as shown in FIG. 6B , the laser sensor 11 may be disposed so that at least a portion of the outer shape of the laser sensor 11 overlaps the widthwise end 32 of the conveyor belt 30 when viewed in the normal direction of the surface 31 of the conveyor belt 30 represented by the dashed dotted line. That is, the position of the laser sensor 11 may be adjusted based on the positional relationship between the widthwise end 32 of the conveyor belt 30 and the outer shape of the laser sensor 11. When the position of the laser sensor 11 is adjusted based on the position of the outer shape of the laser sensor 11, the position of the laser sensor 11 can be adjusted so that the widthwise end 32 of the conveyor belt 30 is hidden by the laser sensor 11 when the laser sensor 11 overlaps the conveyor belt 30. As a result, the position of the laser sensor 11 can be easily adjusted.

[0057] An irradiation range 45 formed by the laser light 43 spreading in the width direction of the conveyor belt 30 spreads linearly extending in the width direction of the conveyor belt 30. On the other hand, if attention is paid only to the component of the laser light 43 spreading in the width direction that travels in the normal direction of the surface 31 of the conveyor belt 30, the range of the surface 31 of the conveyor belt 30 irradiated by that component is a circle of finite size.

[0058] As shown in FIG. 6C , the laser sensor 11 may be disposed so that the end 32 in the width direction of the conveyor belt 30 is included in the range where the surface 31 of the conveyor belt 30 is irradiated with the component of the laser light 43 traveling in the normal direction to the surface 31 of the conveyor belt 30. In other words, the laser sensor 11 may be disposed so that the component of the laser light 43 traveling in the normal direction to the surface 31 of the conveyor belt 30 is incident on the end 32. The laser sensor 11 may also be disposed so that the irradiation portion 41 of the laser sensor 11 overlaps the end 32 in the width direction of the conveyor belt 30 when viewed from the normal direction to the surface 31 of the conveyor belt 30. In FIG. 6C , the normal direction to the surface 31 of the conveyor belt 30 is represented by a dashed line. The range where the component of the laser light 43 traveling in the normal direction to the surface 31 of the conveyor belt 30 is irradiated with the component is represented by diagonal hatching. The component of the laser light 43 traveling in the normal direction of the surface 31 of the conveyor belt 30 is incident on the end 32, thereby eliminating a blind spot at the step between the end 32 of the conveyor belt 30 and the pulley 20. As a result, the measurement accuracy of the surface shape at the end 32 of the conveyor belt 30 is improved.

[0059] The laser sensor 11 may be arranged so that the range of the surface 31 of the conveyor belt 30 irradiated with the component of the laser light 43 traveling in the normal direction to the surface 31 of the conveyor belt 30 is located between the end 32 in the width direction of the conveyor belt 30 and the end 24 of the pulley 20. In other words, the laser sensor 11 may be arranged so that the component of the laser light 43 traveling in the normal direction to the surface 31 of the conveyor belt 30 is incident on the pulley 20. By the component of the laser light 43 traveling in the normal direction to the surface 31 of the conveyor belt 30 being incident on the pulley 20, a blind spot at the step between the end 32 of the conveyor belt 30 and the pulley 20 is eliminated. As a result, the measurement accuracy of the surface shape at the end 32 of the conveyor belt 30 is improved.

[0060] The laser sensor 11 may be configured as a laser rangefinder or as a distance measuring camera using a TOF (Time Of Flight) method.

[0061] <<Arithmetic unit 12>> The calculation device 12 includes one or more processors that execute calculations and a storage unit that stores, for example, measurement data of the surface shape used in the calculations. The calculation device 12 may be configured as, for example, a computer.

[0062] The processor may be a general-purpose processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit). The processor may also be a dedicated processor specialized for a specific process. The processor is not limited to these and may be any processor. The processor may realize the functions of the surface profile measuring apparatus 10 by reading and executing a program stored in a storage unit.

[0063] The storage unit may include one or more memories, such as, but not limited to, semiconductor memory, magnetic memory, or optical memory, and may include an electromagnetic recording medium such as a hard disk drive (HDD).

[0064] The computing device 12 generates surface shape data representing the surface shape of the conveyor belt 30 based on the measurement data of the surface shape of the conveyor belt 30 detected by the laser sensor 11. The surface shape data may be expressed as a graph representing the height of each point along one direction, such as the width direction or the traveling direction, of the surface 31 of the conveyor belt 30. The surface shape data may be generated as two-dimensional map data representing the height of each point on the surface 31 of the conveyor belt 30.

[0065] A coordinate system having coordinate axes along both the width direction and the traveling direction may be set on the surface 31 of the conveyor belt 30. The laser sensor 11 emits a laser beam 43 spreading in the width direction and detects a laser beam 46 returning from the conveyor belt 30, thereby generating measurement data representing the height of the surface 31 of the conveyor belt 30 at each of a plurality of points lined up in the width direction, which is specified by a combination of one coordinate in the traveling direction and a plurality of coordinates in the width direction. The laser sensor 11 also generates measurement data representing the height of the surface 31 of the conveyor belt 30 at each of a plurality of points lined up in the width direction, which is specified by a combination of another coordinate in the traveling direction and a plurality of coordinates in the width direction, by repeatedly emitting the laser beam 43 and detecting the returning laser beam 46 after the conveyor belt 30 moves in the traveling direction. The laser sensor 11 can generate measurement data representing the height of the surface 31 of the conveyor belt 30 over the entire surface 31 of the conveyor belt 30 by repeatedly emitting the laser beam 43 and detecting the returning laser beam 46 while the conveyor belt 30 makes one revolution in the traveling direction.

[0066] The computing device 12 may generate surface shape data of the conveyor belt 30, as necessary, further based on operation information of the conveyor belt 30. The operation information of the conveyor belt 30 may include information specifying whether the conveyor belt 30 is moving or stationary. The operation information of the conveyor belt 30 may include the moving speed of the conveyor belt 30 when it is moving. The computing device 12 may identify the position of the conveyor belt 30 in the traveling direction when the laser sensor 11 measured the surface shape of the conveyor belt 30 in the width direction, based on the operation information of the conveyor belt 30. The computing device 12 may generate, as surface shape data, two-dimensional map data representing the height of each point on the surface 31 of the conveyor belt 30 by associating the measurement data of the surface shape of the conveyor belt 30 in the width direction with the position of the conveyor belt 30 in the traveling direction when the measurement data was measured.

[0067] The operation information of the conveyor belt 30 may include information specifying whether an object is loaded on the surface 31 of the conveyor belt 30. The computing device 12 may generate surface shape data of the conveyor belt 30 based on measurement data when no object is loaded on the surface 31 of the conveyor belt 30.

[0068] The laser sensor 11 may measure the surface shape of the conveyor belt 30 by irradiating the pulley 20 with a component of the laser light 43 traveling in the normal direction to the surface 31 of the conveyor belt 30, and detecting the laser light 46 that is reflected or scattered and returned at the portion where the conveyor belt 30 contacts the pulley 20. The computing device 12 may generate surface shape data of the portion where the conveyor belt 30 contacts the pulley 20 based on the measurement data generated by the laser sensor 11.

[0069] The laser sensor 11 may measure the surface shape of the conveyor belt 30 by irradiating the surface 31 of the conveyor belt 30 with laser light 43 while the conveyor belt 30 is driven in the traveling direction, and detecting laser light 46 reflected or scattered at each position along the traveling direction on the surface 31 of the conveyor belt 30. The computing device 12 may generate surface shape data along the traveling direction of the surface 31 of the conveyor belt 30 based on the measurement data generated by the laser sensor 11.

[0070] The computing device 12 may further include a device for outputting the generated surface shape data. The device for outputting the surface shape data may include a display device. The display device may include various displays such as a liquid crystal display.

[0071] The arithmetic unit 12 may output the generated surface shape data to an external device. The arithmetic unit 12 may further include a communication interface for communicating with the external device via a wired or wireless connection. The communication interface may be configured to be able to communicate with the external device via a network.

[0072] <Example of operation of surface profile measuring device 10> The surface profile measuring device 10 uses a laser sensor 11 to irradiate the surface 31 of the conveyor belt 30 with laser light 43, detects the laser light 46 that is reflected or scattered by the surface 31 and returns, and generates measurement data of the surface profile of the conveyor belt 30. The surface profile measuring device 10 uses a computing device 12 to generate surface profile data based on the measurement data of the surface profile of the conveyor belt 30.

[0073] When the surface profile measuring device 10 includes a plurality of laser sensors 11, each of the plurality of laser sensors 11 generates measurement data of the surface profile for each of a plurality of ranges in the width direction of the conveyor belt 30.

[0074] When the surface profile measuring apparatus 10 includes laser sensors 11A and 11B as shown in FIG. 4, the laser sensor 11A generates measurement data of the surface profile for a range including one end 32 in the width direction of the conveyor belt 30. The laser sensor 11B generates measurement data of the surface profile for a range including the other end 32 in the width direction of the conveyor belt 30. As described above, the irradiation range 45A of the laser sensor 11A and the irradiation range 45B of the laser sensor 11B overlap with each other. Therefore, the measurement data of the surface profile at each point across the entire width direction of the conveyor belt 30 is represented by at least one of the measurement data of the surface profile measured by the laser sensor 11A and the measurement data of the surface profile measured by the laser sensor 11B.

[0075] The calculation device 12 synthesizes or combines the measurement data of the surface shape measured by each of the laser sensors 11A and 11B to generate surface shape data for the entire width direction of the conveyor belt 30. When synthesizing or combining multiple pieces of measurement data, the calculation device 12 may correct at least one piece of measurement data so that the surface heights of the measurement data match in the overlapping range in the width direction of the conveyor belt 30.

[0076] The surface profile measuring apparatus 10 may manage or monitor the conveyor belt 30 based on the generated surface profile data of the conveyor belt 30. The surface profile measuring apparatus 10 may manage or monitor the conveyor belt 30 using the computing device 12. The surface profile measuring apparatus 10 may further include a device for managing or monitoring the conveyor belt 30.

[0077] The surface profile measuring device 10 may determine, for example, whether the thickness of the conveyor belt 30 is sufficient based on the surface profile data of the conveyor belt 30. If the surface profile measuring device 10 determines that the thickness of the conveyor belt 30 is insufficient, it can notify an operator of an abnormality in the conveyor belt 30 or stop the conveyor belt 30. By the surface profile measuring device 10 managing the conveyor belt 30 based on the surface profile data of the conveyor belt 30, abnormalities in the conveyor belt 30 can be detected with high accuracy. Furthermore, detecting abnormalities in the conveyor belt 30 with high accuracy makes it possible to respond to the abnormality in the conveyor belt 30 early.

[0078] The surface profile measuring apparatus 10 may perform a surface profile measuring method including the procedure illustrated in Fig. 7. The surface profile measuring method may be realized as a surface profile measuring program executed by a processor included in the surface profile measuring apparatus 10. The surface profile measuring program may be stored in a non-transitory computer-readable medium.

[0079] The laser sensor 11 irradiates the surface 31 of the conveyor belt 30 with laser light 43 and detects the laser light 46 reflected or scattered by the surface 31 of the conveyor belt 30 (step S1).

[0080] The laser sensor 11 measures the surface shape of the conveyor belt 30 based on the detection result of the laser light 46 (step S2). The laser sensor 11 may calculate the height of each point on the surface 31 of the conveyor belt 30 and generate measurement data of the surface shape.

[0081] The calculation device 12 determines whether measurement of the surface shape has been completed over the entire traveling direction of the conveyor belt 30 (step S3). The calculation device 12 may determine whether measurement of the surface shape has been completed over the entire traveling direction of the conveyor belt 30 based on operation information of the conveyor belt 30 and measurement data acquired from the laser sensor 11. If measurement of the surface shape has not been completed over the entire traveling direction of the conveyor belt 30 (step S3: NO), that is, if a portion of the surface shape of the conveyor belt 30 in the traveling direction has not been measured, the calculation device 12 returns to the procedure of step S1 and continues measuring the surface shape of the conveyor belt 30.

[0082] When the calculation device 12 has completed measuring the surface shape over the entire traveling direction of the conveyor belt 30 (step S3: YES), the calculation device 12 generates surface shape data (step S4).

[0083] The arithmetic device 12 manages or monitors the conveyor belt 30 based on the surface shape data (step S5). After executing the procedure of step S5, the arithmetic device 12 ends the execution of the flowchart of Fig. 7. After executing the procedure of step S5, the arithmetic device 12 may return to the procedure of step S1 and repeat the measurement of the surface shape of the conveyor belt 30.

[0084] Even if in the judgment procedure of step S3 the surface shape of a portion of the conveyor belt 30 in the traveling direction has not been measured, the calculation device 12 may proceed to the surface shape data generation procedure of step S4 and generate surface shape data only for the range in which the surface shape has been measured.

[0085] <Summary> According to this embodiment, the laser sensor 11 is disposed so that the center of the irradiation range 45 of the laser light 43 is located at the widthwise end 32 of the conveyor belt 30 or in a range outside the widthwise end 32 of the conveyor belt 30. By disposing the laser sensor 11 in this manner, even if there is a step at the boundary between the widthwise end 32 of the conveyor belt 30 and the pulley 20, a blind spot 43S where the laser light 43 does not enter is unlikely to occur. The widthwise end 32 of the conveyor belt 30 is a location where defects such as edge cuts or cracks are likely to occur, and therefore is a location of high importance for management or monitoring. Therefore, by measuring with high accuracy the surface shape of the boundary between the widthwise end 32 of the conveyor belt 30 and the pulley 20, the shape of defects such as edge cuts in the end 32 or the location of the defects can be measured with high accuracy.

[0086] (Other embodiments) An example of the configuration of a surface profile measuring apparatus 10 according to another embodiment will be described below.

[0087] <Configuration example when the number of laser sensors 11 is three> As illustrated in FIG. 8 , the surface profile measuring apparatus 10 may include three laser sensors 11A, 11B, and 11C. The laser sensors 11A and 11B are disposed at both ends of the conveyor belt 30 in the width direction, and can measure the surface profile of the end 32 with high accuracy. The laser sensors 11A and 11B may be disposed such that the central axes 44A and 44B of the irradiation ranges 45A and 45B of the laser sensors 11A and 11B, respectively, are positioned at the end 32 in the width direction of the conveyor belt 30. The laser sensor 11C is disposed in the center of the conveyor belt 30 in the width direction, and can measure the surface profile of the center of the conveyor belt 30 in the width direction with high accuracy. The laser sensor 11C may be disposed such that the central axis 44C of the irradiation range 45C of the laser sensor 11C is positioned at the center of the conveyor belt 30 in the width direction.

[0088] The widthwise ends 32 of the conveyor belt 30 are areas where defects such as cut edges are likely to occur, and are therefore areas where management or monitoring is particularly required. Furthermore, the widthwise center of the conveyor belt 30 tends to become thinner due to wear caused by the heaviest load of transported goods, and is therefore an area where management or monitoring is particularly required. Therefore, according to this configuration example, regardless of the widthwise length of the conveyor belt 30, the areas where management or monitoring is particularly required can be measured with high accuracy.

[0089] The number of laser sensors 11 may be four or more. By increasing the number of laser sensors 11, the surface shape of the conveyor belt 30 can be measured across the entire width of the conveyor belt 30, regardless of the length of the conveyor belt 30 in the width direction.

[0090] <Configuration example in which multiple laser sensors 11 are arranged offset in the traveling direction> In the above-described embodiment, when multiple laser sensors 11 are arranged side by side in the width direction of the conveyor belt 30, the irradiation ranges 45 of the laser light 43 overlap in the width direction so as to eliminate non-measurement areas. However, when the irradiation ranges 45 of multiple laser sensors 11 overlap, laser light 43 irradiated from one laser sensor 11 toward the overlapping range is reflected or scattered to produce laser light 46, and some components of the laser light may travel toward another laser sensor 11 and be detected by the other laser sensor 11. In other words, in the range where the irradiation ranges 45 of the multiple laser sensors 11 overlap, the laser light 43 may interfere with each other, thereby reducing the accuracy of measuring the surface shape.

[0091] Therefore, as shown in the front view of Fig. 9A, although irradiation areas 45A and 45B overlap in the width direction of the conveyor belt 30, multiple laser sensors 11A and 11B may be arranged so that irradiation areas 45A and 45B do not overlap in the traveling direction of the conveyor belt 30 as shown in the side view of Fig. 9B. In other words, multiple laser sensors 11A and 11B may be arranged spaced apart so that irradiation areas 45A and 45B of laser light 43 do not overlap in the traveling direction of the conveyor belt 30. In Fig. 9A, the area where irradiation areas 45A and 45B overlap in the width direction of the conveyor belt 30 is represented as Q. In Fig. 9B, the area where irradiation areas 45A and 45B are separated in the traveling direction of the conveyor belt 30 is represented as P.

[0092] Here, the separation range in the traveling direction of the conveyor belt 30 required for laser sensors 11A and 11B to not affect each other is confirmed. In this configuration example, laser sensor 11A is referred to as the first sensor, and laser sensor 11B is referred to as the second sensor.

[0093] First, a case will be described in which the first sensor, i.e., laser sensor 11A, and the second sensor, i.e., laser sensor 11B, are arranged so that their irradiation ranges 45A and 45B overlap in the width direction of the conveyor belt 30 while being spaced apart by 20 mm in the direction of travel of the conveyor belt 30. In this case, measurement data obtained by the first and second sensors measuring the surface shape of the conveyor belt 30, which has a flat surface 31, are shown in the graphs of FIGS. 10A and 10B. The graph in FIG. 10A represents the measurement data obtained by the first sensor. The graph in FIG. 10B represents the measurement data obtained by the second sensor. The horizontal axes of the graphs in FIGS. 10A and 10B represent the position in the width direction of the conveyor belt 30. The vertical axes represent the measured height of the surface 31 at each position. The range in which the irradiation ranges 45A and 45B overlap in the width direction is indicated by Q.

[0094] 10A and 10B, the effect of the overlap of irradiation areas 45A and 45B in the width direction appears as a step-like change in the measurement data of the surface height between the range represented as Q and other ranges. The step-like change in the measurement data of the surface height indicates that interference of laser light 43 occurs in the range where irradiation areas 45A and 45B overlap, i.e., the range represented as Q.

[0095] Next, a case will be described in which the first sensor, i.e., laser sensor 11A, and the second sensor, i.e., laser sensor 11B, are arranged so that their irradiation ranges 45A and 45B overlap in the width direction of the conveyor belt 30 while being spaced 45 mm apart in the direction of travel of the conveyor belt 30. In this case, the measurement data obtained by the first and second sensors measuring the surface shape of the conveyor belt 30, which has a flat surface 31, as in the above-described case, are shown in the graphs of FIGS. 11A and 11B. The graph of FIG. 11A represents the measurement data obtained by the first sensor. The graph of FIG. 11B represents the measurement data obtained by the second sensor. The horizontal axis of the graphs of FIGS. 11A and 11B represents the position in the width direction of the conveyor belt 30. The vertical axis represents the measured height of the surface 31 at each position. The overlapping range of the irradiation ranges 45A and 45B in the width direction is represented as Q.

[0096] 11A and 11B, the measurement data of the surface height is continuous between the range represented by Q and other ranges. The fact that the measurement data of the surface height is continuous indicates that there is no interference of the laser light 43 in the range where the irradiation range 45A and the irradiation range 45B overlap, i.e., the range represented by Q, and therefore there is no influence due to the irradiation ranges 45A and 45B overlapping each other in the width direction.

[0097] From the above, even if the first sensor, i.e., laser sensor 11A, and the second sensor, i.e., laser sensor 11B, are arranged so that the irradiation areas 45A and 45B overlap in the width direction of the conveyor belt 30, by separating the first sensor and the second sensor by at least 45 mm in the traveling direction of the conveyor belt 30, there will be no effect of the overlap of the irradiation areas 45A and 45B in the width direction of the conveyor belt 30. The distance required for the separation in the traveling direction of the conveyor belt 30 is determined according to the specifications of the laser sensor 11.

[0098] Furthermore, even if the distance between the two laser sensors 11 in the direction of travel of the conveyor belt 30 is less than the distance determined according to the specifications of the laser sensors 11, the longer the distance between the two laser sensors 11 in the direction of travel of the conveyor belt 30, the less the impact of the irradiation ranges 45A and 45B overlapping in the width direction of the conveyor belt 30.

[0099] In other words, if the irradiation ranges 45 of the laser light 43 emitted from each of the multiple laser sensors 11 overlap when viewed in the direction of travel of the conveyor belt 30, the multiple laser sensors 11 may be arranged so that the irradiation ranges 45 of the laser light 43 emitted from each of the multiple laser sensors 11 do not overlap when viewed in the width direction of the conveyor belt 30.

[0100] Even if the surface shape measuring device 10 is equipped with three or more laser sensors 11, the effect of overlapping irradiation ranges 45 in the width direction of the conveyor belt 30 is eliminated or reduced by separating two adjacent laser sensors 11 in the width direction of the conveyor belt 30 in the direction of travel of the conveyor belt 30.

[0101] When the plurality of laser sensors 11 are arranged offset from one another in the traveling direction of the conveyor belt 30, the computing device 12 generates surface shape data taking into account the position of each laser sensor 11 in the traveling direction.

[0102] The laser sensors 11 may measure the surface profile in synchronization with the movement of the conveyor belt 30 by a distance that separates each laser sensor 11 in the traveling direction of the conveyor belt 30. For example, if the first sensor is located behind the second sensor in the traveling direction of the conveyor belt 30 as shown in FIG. 9B , after the first sensor measures the surface profile, the second sensor may measure the surface profile when the portion measured by the first sensor moves to the coordinates of the second sensor in the traveling direction of the conveyor belt 30. The computing device 12 can generate surface profile data of the entire conveyor belt 30 in the width direction by combining the measurement data of the first sensor and the measurement data of the second sensor.

[0103] In this configuration example, as in the configuration examples described above, the surface shape of the widthwise end 32 of the conveyor belt 30 is measured with high accuracy by the laser sensor 11. Furthermore, according to this configuration example, the laser beams 43 of the multiple laser sensors 11 do not interfere with each other, and the surface shape of the area where the irradiation ranges 45 overlap in the widthwise direction of the conveyor belt 30 is measured with high accuracy.

[0104] Although the embodiments of the present disclosure have been described based on the drawings and examples, it should be noted that those skilled in the art could make various modifications or alterations based on the present disclosure. Therefore, it should be noted that these modifications and alterations are included within the scope of the present disclosure. For example, the functions included in each component or step can be rearranged so as not to cause logical inconsistencies, and multiple components or steps can be combined or divided into one. The embodiments of the present disclosure can also be realized as a program executed by a processor included in an apparatus or a storage medium on which a program is recorded. It should be understood that these are also included within the scope of the present disclosure. [Explanation of symbols]

[0105] 10 Surface profile measuring device 11(11A, 11B, 11C) Laser sensor 12 Arithmetic unit 14 Cover 20 Pulley (22: Rotating shaft) 30 Conveyor belt (31: surface, 32: end) 41(41A, 41B, 41C) Irradiation section 42 Light receiving part 43 Laser light 43S blind spot range 44 (44A, 44B, 44C) Central axis of irradiation range 45 (45A, 45B, 45C) Irradiation range 46 Laser light

Claims

1. A surface shape measuring device for measuring the shape of the surface of a belt driven in a traveling direction by a driving device, one or more laser sensors positioned on the surface side of the belt, irradiating the surface of the belt with laser light spreading in the width direction of the belt, and detecting the laser light reflected or scattered by the surface of the belt to measure the shape of the surface of the belt; a computing device that generates surface shape data representing the shape of the surface of the belt based on measurement data of the shape of the surface of the belt obtained by the laser sensor; Equipped with At least one laser sensor among the one or more laser sensors is arranged so as to overlap an edge of the belt in the width direction or a range outside the edge of the belt in the width direction when viewed in the normal direction to the surface of the belt, and so as to include the edge of the belt in the width direction in a range irradiated by a component of the laser light traveling in the normal direction to the surface of the belt, thereby preventing a decrease in intensity of the laser light that is reflected or scattered at the edge and returns to the laser sensor. Surface shape measuring device.

2. A surface shape measuring device for measuring the shape of the surface of a belt driven in a traveling direction by a driving device, one or more laser sensors positioned on the surface side of the belt, irradiating the surface of the belt with laser light spreading in the width direction of the belt, and detecting the laser light reflected or scattered by the surface of the belt to measure the shape of the surface of the belt; a computing device that generates surface shape data representing the shape of the surface of the belt based on measurement data of the shape of the surface of the belt obtained by the laser sensor; Equipped with At least one of the one or more laser sensors is arranged so that the entire laser sensor overlaps a range that is further outward in the width direction than the ends of the belt when viewed in a direction normal to the surface of the belt, and so that the ends of the belt in the width direction are included in a range irradiated by the laser light. Surface shape measuring device.

3. the drive device is a pulley; The belt is wound around the pulley, an end of the pulley in the width direction of the belt is located outside an end of the belt in the width direction, 3. The surface profile measuring device according to claim 1, wherein the laser sensor is positioned so that the area irradiated by a component of the laser light that travels in a direction normal to the surface of the belt is located between an end of the belt in the width direction and an end of the pulley.

4. the laser sensor detects the laser light reflected or scattered at a portion where the belt contacts the pulley to measure the shape of the surface of the belt; The surface profile measuring device according to claim 3 , wherein the arithmetic unit generates the surface profile data for a portion where the belt contacts the pulley.

5. A surface shape measuring device for measuring the shape of the surface of a belt driven in a traveling direction by a driving device, one or more laser sensors positioned on the surface side of the belt, irradiating the surface of the belt with laser light spreading in the width direction of the belt, and detecting the laser light reflected or scattered by the surface of the belt to measure the shape of the surface of the belt; a computing device that generates surface shape data representing the shape of the surface of the belt based on measurement data of the shape of the surface of the belt obtained by the laser sensor; Equipped with the drive device is a pulley; The belt is wound around the pulley, an end of the pulley in the width direction of the belt is located outside an end of the belt in the width direction, At least one of the one or more laser sensors is arranged so that when viewed in a normal direction to the surface of the belt, it overlaps with an edge of the width direction of the belt or a range outside the edge of the width direction of the belt, and so that a range irradiated with a component of the laser light traveling in a normal direction to the surface of the belt is located between the edge of the width direction of the belt and the edge of the pulley, and a blind spot range into which the laser light does not enter is eliminated by a step between the edge and the pulley. Surface shape measuring device.

6. A surface shape measuring device for measuring the shape of the surface of a belt driven in a traveling direction by a driving device, one or more laser sensors positioned on the surface side of the belt, irradiating the surface of the belt with laser light spreading in the width direction of the belt, and detecting the laser light reflected or scattered by the surface of the belt to measure the shape of the surface of the belt; a computing device that generates surface shape data representing the shape of the surface of the belt based on measurement data of the shape of the surface of the belt obtained by the laser sensor; Equipped with the drive device is a pulley; The belt is wound around the pulley, an end of the pulley in the width direction of the belt is located outside an end of the belt in the width direction, At least one of the one or more laser sensors is arranged so that an end of the belt in the width direction is included in an area irradiated with a component of the laser light that spreads in the width direction of the belt and travels in a normal direction to the surface of the belt. Surface shape measuring device.

7. 7. The surface shape measuring apparatus according to claim 5, wherein the laser sensor is disposed so that at least a component of the laser light normal to the surface is incident on the pulley.

8. 7. The surface profile measuring device according to claim 5, wherein the laser sensor is positioned so that the widthwise end of the belt is included in an area irradiated by a component of the laser light that travels in a direction normal to the surface of the belt.

9. 7. The surface profile measuring device according to claim 1, wherein the laser sensor is positioned so that an angle between a direction of travel of the laser light incident on an end of the belt in the width direction and a direction normal to the belt surface is equal to or less than an upper limit angle determined according to the accuracy required for measuring the shape of the belt surface.

10. 7. The surface shape measuring device according to claim 1, wherein the laser sensor is positioned so that when viewed in the normal direction of the surface of the belt, the laser sensor overlaps a range outside the widthwise end of the belt, and the widthwise end of the belt is included in the irradiation range of the laser light.

11. 7. The surface shape measuring device according to claim 1, wherein the laser sensor is positioned so that when the laser sensor is positioned so as to overlap the widthwise end of the belt when viewed in the normal direction to the surface of the belt, at least a portion of the outer shape of the laser sensor overlaps the widthwise end of the belt.

12. the laser sensor irradiates the surface of the belt with the laser light while the belt is being driven in the traveling direction, and detects the laser light reflected or scattered at each position on the surface of the belt along the traveling direction to measure the shape of the surface of the belt; The surface profile measuring device according to claim 1 , wherein the calculation device generates surface profile data along the traveling direction of the surface of the belt.

13. 7. The surface shape measuring device according to claim 1, wherein at least one laser sensor is disposed on each of both ends in the width direction of the belt.

14. 14. The surface profile measuring device according to claim 13, wherein the laser sensors are arranged so that the entire width of the belt is included in an irradiation range of the laser light irradiated from at least one laser sensor when viewed in the traveling direction of the belt.

15. the calculation device generates surface shape data of the entire belt in the width direction by combining the measurement data of the plurality of laser sensors. The surface shape measuring apparatus according to claim 13.

16. When the irradiation ranges of the laser beams irradiated from the plurality of laser sensors overlap when viewed in the traveling direction of the belt, the plurality of laser sensors are arranged so that the irradiation ranges of the laser beams irradiated from the plurality of laser sensors do not overlap when viewed in the width direction of the belt. The surface shape measuring apparatus according to claim 13.

17. 7. A surface profile measuring method for measuring a surface profile of the belt using the surface profile measuring device according to claim 1, 2, 5 or 6, comprising the steps of: a step of irradiating the laser light from the laser sensor onto the surface of the belt, detecting the laser light reflected or scattered by the surface of the belt with the laser sensor, and measuring the shape of the surface of the belt; generating surface shape data representing the shape of the surface of the belt based on measurement data of the shape of the surface of the belt measured by the laser sensor; A surface shape measurement method comprising:

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