JP2000065541A - Position detecting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain the coil position detecting device which can be easily mounted on a ceiling crane and greatly reduces adjusting operation in a site. SOLUTION: The position detecting device is equipped with a measuring means which measures the three-dimensional shape of a coil (body) 6 in two sections, a radial-direction arithmetic unit (depth-direction arithmetic unit) 2 which calculates the depth center position and height of the coil 6 according to the coil shape data on the section 1, and a width-direction arithmetic unit 3 which calculates the width center position of the coil 6 based on the coil shape data on the section 2. The measuring means stated above is a propagation time detection type laser distance meter 1 which detects the distance to the coil 6 based on the time from the laser light irradiation on the coil 6 to the detection of its reflected light.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position detecting device used for detecting a coil position for automatic (unmanned) operation of a coil conveying overhead crane in a coil warehouse of an ironworks.

[0002]

2. Description of the Related Art A coil formed by winding a thin steel plate into a roll is stored in a warehouse during a waiting time at the time of shipment at each steelworks. Recently, automatic (unmanned) operation of overhead cranes has been promoted to automate work in coil warehouses, and it has been easy to manage work that was difficult in the past, and to improve productivity and homogenize. It is designed to relieve humans from working in bad environments, dangerous work and simple work.

In this case, what is problematic in the automation of the overhead crane is the coil handling work conventionally performed by a driver on a crane machine. Specifically, in the handling work, unless the exact location of the target coil and the relative positional relationship between the coil position and the crane in the location are clarified, mishandling and load swing may occur, and accidents may occur. Tying is a problem. In particular, when a trailer is used as a method of entering the coil warehouse, the stopping position of the trailer varies within a range of several hundred millimeters, so that the accuracy of managing the coil position is deteriorated, and the possibility of causing the mishandling increases. It becomes a problem.

[0004] In view of the above situation, there is a demand for a sensor that accurately gives the position of a predetermined coil to a crane.
The invention of 125295 has been proposed. This coil position detecting device (position detecting device) utilizes the cylindrical shape of the coil. By devising the arrangement of two TV cameras and a light source, the coil is detected in the radial direction (depth) by the principle of triangulation. Direction) and height distribution in the width direction (coil shape)
Is measured, and the center position, radius and width of the coil are calculated. Then, after the trolley of the overhead crane is roughly positioned above a predetermined coil on a preset trailer, the coil position is detected by the device and accurate positioning is performed.

The principle of detecting the center position, radius and width of the coil in the coil position detecting device will be described with reference to FIGS. FIG. 6 is a block diagram showing a configuration of a detection / processing system device of a conventional coil position detection device, and FIG. 7 is a layout diagram of an optical system device for height detection in a triangulation method. In FIG. 6, reference numeral 16 denotes a laser light source, and 17 denotes a scanning mirror built in the laser light source 16. Laser (spot) by two scanning mirrors 17 and laser light source 16
By reciprocating the light parallel to the x-axis or the z-axis, laser slit light parallel to the x-axis or the z-axis is synthesized on the ground. The selection of the x-axis and the z-axis is instructed by four controllers. 7
Is a TV camera for measuring the height distribution of the coil in the radial direction, and 8 is a TV camera for measuring the height distribution of the coil in the width direction.
It is a V camera.

Reference numerals 9 and 10 denote A / D converters for digitizing the video signal of the TV camera. Reference numerals 11 and 15 denote binarizing devices which binarize digitized image data to extract only a laser slit image. Reference numeral 13 denotes an end point detection device (width direction calculation device) which detects coordinates of two end points on the coil with respect to the extracted laser slit image. Further, the end point detecting device 13 converts the coordinates of the two end points on the coil detected above into image data obtained by measuring the height distribution in the width direction of the coil by a coordinate conversion device of 14 using actual xyz orthogonal coordinates. The result of the conversion into the system position is received, and the width of the coil and the center position in the width direction of the coil are calculated. Reference numeral 14 denotes a coordinate conversion device which converts an arbitrary point of the laser slit image on the image data into an actual xyz rectangular coordinate system. Numeral 12 denotes an arithmetic unit (depth direction arithmetic unit) which calculates a radial center position and a radius of the coil based on radial height distribution data on the coil. The controller 4 includes TV cameras 7, 8,
It has a function of controlling the operations of the laser light source 16 and the scanning mirror 17 and sending data output by the end point detecting device 13 and the arithmetic device 12 to a crane control device (not shown).

The step of detecting the position of the coil in the conventional coil position detecting device having the above configuration will be described.
As shown in FIG. 7, TV cameras 7, 8 and a laser light source (including a scanning mirror 17) 16 are mounted on the trolley 5 of the overhead crane.
Is installed. The trolley 5 is roughly positioned above a predetermined coil 6 on a preset trailer. The height distribution of the coil 6 in the radial direction (running direction) and the width direction (transverse direction) is determined by the principle of triangulation. It is being measured. FIGS. 8A and 8B are explanatory diagrams showing the principle of three-dimensional position detection by a triangulation method. As shown in the figure, the point (x, y, z) on the coil 6 on which the laser light is applied is represented by coordinates (i, j) of the laser light on the screen of the TV cameras 7 and 8 corresponding thereto. Then, it is given by the following equation. x = (x component at the position of the laser light source 16 (on the trolley 5)) (1) y = h ₀ −h (2) z = cos α · (C ² + h ² ) ^1/2 · (g / 2−i) / (G / 2) · tan (γ / 2) (3) h = Ctan (θ−α) (4) tanα = tan (β / 2) · (g / 2−j) / (g / 2) ( 5) where h ₀ is the distance between the TV camera and the ground, C is the distance between the TV camera and the laser light source (scanning mirror), θ is the mounting angle of the TV camera, h is the detection distance, and α is the optical axis of the TV camera. , Β is the viewing angle of the TV camera in the vertical direction J, γ is the viewing angle of the TV camera in the horizontal direction I, and g is the TV angle.
This is the number of pixels in the horizontal or vertical direction on the light receiving surface (image memory) of the camera.

Therefore, by rotating the scanning mirror 17, z
While moving the laser spot light parallel to the axis, the coil 6
By irradiating the surface, a radial height distribution (three-dimensional position) of the coil 6 can be obtained by the equations (1) to (5). Specifically, the image data (the k-th frame) photographed by the TV camera 7 and the image data one frame before (the (k-1) th frame)
If the absolute value is calculated between frames, the laser spot light always moves due to the rotation of the scanning mirror 17, so that only the spot light on the image data can be extracted. When this process is repeatedly performed and the integration process is performed, a laser spot image is connected, and a laser slit image can be synthesized. Therefore, the data of each point on the laser slit image obtained through the A / D conversion device 9 and the binarization device 11 are converted to the coordinate conversion device 1
In step 4, if the coordinates are converted using the above equations (1) to (5), radial height distribution data (three-dimensional position) on the surface of the coil 6 can be obtained. Similarly, if the TV camera 8 is arranged on the z-axis and the scanning mirror 17 is scanned to irradiate the surface of the coil 6 while moving the laser spot light parallel to the x-axis, the height distribution of the coil 6 in the width direction is obtained. (3D position) is obtained.

FIG. 9A shows the irradiation position of the laser beam on the xz plane, and FIGS. 9B and 9C show the z-axis and x-axis.
An example of the result of measuring the height distribution of the coil surface parallel to the axis is shown. From FIG. 9C, the width D of the coil 6 and the center position B of the width are given by the following equations. D = L (6) B = B (x _b , y _b , z _b ) (7) Since the height data in the radial direction in FIG. 9B is data on the outer periphery of the coil 6, the following circle Satisfies the equation ^{_{(Y i -y a) 2 +}} (z i -z a) 2 = r 2 (8) where, y _i, z _i is the height data of the radial direction of the coil surface, y
_a and z _a are the center positions of the circle, and r is the radius of the coil 6. Accordingly, the center position of the circle (y _a, z _a) is can be determined by the least squares method as follows. That is, define f by the following equation (9), y _a to minimize the evaluation function F shown in Equation (10), z _a, be determined to r, they seek _{[y a, z a, r} ] Becomes _{f = (y i -y a)} 2 + (z i -z a) 2 -r 2 (9) F = Σ {(y i -y a) 2 + (z i -z a) 2 -r 2} ² → min (10) The above equation (10) is obtained by calculating the positions (y _i ,
Given z _i ), it can be solved, for example, by the Newton-Raphson method. From the above, the center position (x _g ,
y _g , z _g ), radius r and width D are given by the following equations. _{x g = x b y g =} y a (11) based on the _{z g = z a r = r} (12) D = L (13) above calculation method, calculation unit 12, the formula (10)
Center position (y _a, z _a) of the coil using and calculate the radius r, the width endpoint detection apparatus 13 of the coil D and the center position x _b
Is calculated and output to the controller 4. Thereby, the center position (x _g , y _g , z _g ) of the coil, the radius r and the width D can be obtained. If the handling center of the crane is associated with the origin O of the control system, the above values can be obtained from the crane. It can be used as a control amount.

[0010]

The above-mentioned conventional coil position detecting device is very effective because the coil position information required for automating the overhead crane for coil transfer can be detected in a non-contact and accurate manner. Device.

The above-described conventional coil position detecting device has a characteristic that, as the distance between the laser light source and the TV camera becomes longer in principle, a constant distance detection resolution can be obtained regardless of the measurement distance. And the TV camera are separated by several meters. For this reason,
Mounting the coil position detector on the overhead crane
The dimensions of the crane may not be easy. In addition, since it is necessary to adjust the parameters of the laser light source and the optical equipment such as the TV camera, after installing the coil position detection device on site, multiple adjusters with specialized knowledge must adjust the equipment. In addition, there is a problem that an adjustment period for that is necessary.

In view of the above circumstances, according to the present invention, the optical instrument mounted on the trolley is made compact, so that it can be easily mounted on an overhead crane, and the on-site adjustment work can be greatly reduced to reduce labor. An object of the present invention is to provide a position detection device capable of shortening the adjustment time.

[0013]

According to a first aspect of the present invention, there is provided a position detecting apparatus, comprising: a measuring means for measuring a three-dimensional shape of an object in two cross sections; A depth direction calculating device that calculates a depth center position and a height of the object based on the width direction calculation that calculates a width center position of the object based on the object shape data in the two cross sections measured by the measurement unit. In the position detecting device, the measuring unit detects a distance from the object based on a time from when the object is irradiated with the laser beam to when the reflected light is received. It is a detection type laser rangefinder.

In this position detecting device, the shape of the target object is measured by a laser distance meter of a propagation time detecting type. The laser range finder measures a time required for irradiating an object with laser light from a light projecting unit and detecting reflected light from the light receiving unit. Since the distance to the object is proportional to the measurement time, the distance to the object can be measured based on the measurement time, and shape data for two cross sections of the object can be obtained. Based on the shape data, the depth direction calculation device calculates the depth center position and height of the object, the width direction calculation device calculates the width center position of the object, and the center position of the object is detected. Here, in this laser range finder, if the light emitting part and the light receiving part are matched in principle, the interval between them is set to zero, and the propagation time is measured accurately, the distance can be measured accurately. Therefore, in the propagation time detection method, the interval between the light projecting unit and the light receiving unit may be zero or short. In addition, the adjustment of the optical system equipment of the laser range finder can be performed in the manufacturing factory.

[0015]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail. The coil position detection device according to the present embodiment, the three-dimensional shape of a cylindrical coil as an object to be measured,
Measuring means for measuring in a radial direction and a width direction, a radial computing device for calculating a center axis and a coil radius of the coil based on the coil shape data in the radial direction measured by the measuring means; In a coil position detection device comprising: a width direction arithmetic device that calculates a width and a width center position of the coil based on the coil shape data in the width direction, the measuring unit includes irradiating the coil with laser light. The laser distance meter is of a propagation time detection type that detects the distance from the coil based on the time until the reflected light is received.

First, a first embodiment of the present invention will be described with reference to the drawings. FIG. 2 is a layout diagram of optical devices of the coil position detecting device (position detecting device) according to the embodiment of the present invention, and FIG. 1 shows a configuration of a detecting / processing system device of the coil position detecting device according to the present embodiment. It is a block diagram.

In FIG. 1, reference numeral 1 denotes a laser range finder of a propagation time measuring system, which has a two-dimensional scanning mirror for scanning a laser beam in parallel with a traveling direction and a traversing direction of a coil conveying overhead crane. The laser distance meter 1 is attached to a trolley 5 of an overhead crane as shown in FIG. 2 is based on radial height distribution data on the coil (radial coil shape data), and substitutes them into the equation of a circle, and _calculates the radial center position (y _g , z _g ) and a radial direction arithmetic device (depth direction arithmetic device) 3 for calculating the radius r, and based on height distribution data in the width direction of the coil (coil shape data in the width direction), determine both end positions on the coil. The width direction arithmetic unit 4 for detecting and calculating the coil center position _xg and the coil width D in the width direction of the coil 4 is a laser distance meter 1, a radial direction arithmetic unit 2, a width direction arithmetic unit 3, and a crane (not shown) Is a controller through which control signals and measurement data are input and output.

The step of detecting the position of the coil using the coil position detecting device configured as described above will be described. In detecting the coil position, for example, as shown in FIGS. 2 and 3, an arbitrary position on the ground in the coil yard is set as the origin O, the traversing direction of the overhead crane is set as the x-axis, and the direction parallel to the traveling direction of the overhead crane. Is set as the z-axis, and an xyz orthogonal coordinate system is set in which the direction parallel to the winding direction is the y-axis. In addition, the trolley 5 is roughly positioned above the preset coil 6 to be handled.
The coil 6 is located parallel to the x axis in the width direction (axial direction) and parallel to the z axis in the depth direction (radial direction).

First, the controller 4 issues a command to the laser distance meter 1 so that a radial height distribution on the coil 6 can be obtained. Then, the laser distance meter 1 controls the scanning mirror and measures the radial height distribution on the coil 6.
The laser distance meter 1 measures the radial height distribution on the coil 6 as follows. The laser distance meter 1 is a light emitting unit 1
A point t on the surface of the coil 6 is irradiated with laser light from a, a time t until the reflected light is detected by the light receiving section 1b is measured, and a distance k to one point of the coil 6 is calculated by the following equation. k = v · t / 2 (14) where v is the speed of light. Projection unit 1a of laser range finder 1
When the mirror that can be scanned two-dimensionally is set, the laser beam irradiation position (x, y, z) shown in FIG. 3 changes the detection value of the laser range finder to k and the laser irradiation angle in the z-axis direction. φ
Then, it is given by the following equation. x = (x component of the position of the laser light source 16 (on the trolley 5)) (1) ′ y = h ₀ −k cos φ (2) ′ z = k sin φ (3) ′ Therefore, by rotating the scanning mirror, Are sequentially irradiated with a laser beam, a radial height distribution of the coil 6 can be obtained.

The height distribution data measured in the radial direction is transmitted to the controller 4. The controller 4 sends the radial height distribution on the coil 6 to the radial direction arithmetic unit 2. The radial direction arithmetic device 2 substitutes the radial height distribution on the coil 6 into a circular equation (8),
Center position (y _g , z) of the coil 6 in the radial direction by the least square method
_g ) and the radius r are calculated and transmitted to the controller 4. Then, the controller 4 issues a command to the laser distance meter 1 so that a height distribution in the width direction on the coil 6 is obtained next.
Then, the laser range finder 1 controls the scanning mirror and irradiates the laser beam sequentially on the x-axis to obtain the height distribution in the width direction of the coil in the same manner as described above. The measurement data of the height distribution in the width direction is transmitted to the controller 4. Controller 4
The width direction arithmetic unit 3 calculates the height distribution on the coil 6 in the width direction.
Send to Based on the center position (x _g , y _g , z _g ) of the coil 6, the radius r and the coil width D, the controller 4 outputs a target stop position (x,
z), the lifting position y of the hanging tool and the opening of the hook of the hanging tool (coil lifter) are output.

In the above-described embodiment, the processing is performed in the order of the radial direction and the width direction of the coil 6, but the processing may be performed in the order of the width direction and the radial direction.

Hereinafter, a second embodiment of the present invention will be described with reference to the drawings.
It will be explained. FIG. 4A shows an embodiment according to the present invention.
Layout diagram of the optical system equipment of the coil position detecting device, FIG.
Detection and processing system equipment of the coil position detection device according to the embodiment
FIG. 3 is a block diagram illustrating a configuration. In FIG. 1, 1 is
Propagation time measurement method that can measure vertically downward from loli 5
Laser rangefinder. 2 is the radial height above the coil
Substituting them into a circle equation based on the distribution data,
The radial center position of the coil (y _g, z_g)
And a radial calculation device 3 for calculating the radius r
Based on the height distribution data in the direction,
And the center position x in the coil width direction_gAnd coil width D
Calculation device in the width direction, 4 is a laser range finder, radial direction
Arithmetic unit 2, width direction arithmetic unit 3, and crane not shown
Between the control signal and measurement data
Roller.

As shown in FIG. 4A, a laser rangefinder 1 is mounted on a trolley 5 of an overhead crane. In detecting the coil position, for example, as shown in FIG. 4A, in the coil yard, an arbitrary position on the ground is set as the origin O, the traversing direction of the overhead crane is set as the x axis, and a direction parallel to the traveling direction of the overhead crane is used. Is set as the z-axis, and a xyz orthogonal coordinate meter is set in which the direction parallel to the winding direction is the y-axis. Now, it is assumed that the trolley 5 is roughly positioned above the preset coil 6 to be handled. The coil 6 is located parallel to the x axis in the width direction (axial direction) and parallel to the z axis in the depth direction (radial direction).

First, the controller 4 issues a command to the crane to move the trolley 5 above the coil 6 in the z-axis direction in order to measure the radial height distribution on the coil.
At the same time, the controller 4 issues a measurement command to the laser distance meter 1. Then, the laser range finder 1 continuously measures the distance directly below the trolley while the trolley is moving in the z-axis direction, and transmits the distance to the controller 4. The controller 4 transmits the obtained radial height distribution data to the radial direction arithmetic device 2. The radial direction arithmetic unit 2 calculates the radial center position (y _g , z _g ) and radius r of the coil 6 by the least squares method by substituting the radial height distribution on the coil 6 into a circular equation. Then, the data is transmitted to the controller 4.

Next, the controller 4 issues a command to the crane to move the trolley 5 above the coil 6 in the x-axis direction in order to measure the height distribution on the coil 6 in the width direction. At the same time, the controller 4 issues a measurement command to the laser distance meter 1. Then, the laser rangefinder 1 indicates that the trolley has x
While moving in the axial direction, the distance immediately below the vertical is continuously measured and transmitted to the controller 4. The controller 4 transmits the obtained height distribution data in the width direction to the width direction arithmetic device 3.

The width direction calculating device 3 detects both end positions on the coil 6 based on the height distribution data of the coil 6 in the width direction, and calculates the center position _xg and the coil width D of the coil 6 in the width direction. Then, the data is transmitted to the controller 4. Controller 4
Based on the center position (x _g , y _g , z _g ) of the coil 6, the radius r and the coil width D, a target stop position (x, y) of the trolley 5 and a lowering of the hanging tool are provided as crane control signals. The position y and the opening amount of the hook of the hanging tool (coil lifter) are output.

In the present embodiment, the processing is performed in the order of the radial direction and the width direction of the coil 6, but the processing may be performed in the order of the width direction and the radial direction.

Hereinafter, a third embodiment of the present invention will be described with reference to the drawings. FIG. 4B is a layout diagram of optical devices of the coil position detection device according to the present embodiment, and FIG. 5 shows a configuration of a detection / processing system device of the coil position detection device according to the third embodiment of the present invention. It is a block diagram. In FIG. 5, 1
Is a laser distance meter of a propagation time measurement type, and is provided with a one-dimensional scanning mirror that scans a laser beam in parallel with a traveling direction or a traversing direction of a coil conveying overhead crane. 18
Is a 90-degree rotating device that switches the scanning direction (running direction or traversing direction) of the laser distance meter 1 of the propagation time measuring method by 90 degrees, and 2 is based on radial height distribution data on the coil,
Substituting these into the equation of the circle and calculating the radial center position (y _g , z _g ) and radius r of the coil by the least squares method, the radial calculation device 3 is a coil height distribution in the width direction. Based on the data, the width direction arithmetic unit that detects both end positions on the coil and calculates the center position _{xg in} the width direction of the coil and the coil width D, 4 is a laser distance meter 1, a radial direction arithmetic device 2, The controller is a controller that inputs and outputs control signals and measurement data between the direction calculation device 3 and a crane (not shown).

As shown in FIG. 4B, the trolley 5 of the overhead crane is provided with the laser distance meter 1 and a 90-degree rotating device 18. In detecting the coil position, for example, as shown in FIG. 4 (b), an arbitrary position on the ground in the coil yard is set as the origin O, the traverse direction of the overhead crane is set as the x axis, and a direction parallel to the traveling direction of the overhead crane is used. Is the z axis, and the direction parallel to the winding direction is the y axis.
The yz orthogonal coordinate system is set. Now, it is assumed that the trolley 5 is roughly positioned above the preset coil 6 to be handled. The coil 6 is in the width direction (axial direction)
Are positioned parallel to the x-axis, and the depth direction (radial direction) is parallel to the z-axis.

First, the controller 4 operates the laser distance meter 1.
A command is issued to the 90-degree rotation device 18 so that the scanning direction is in the radial direction of the coil 6. When the controller 4 receives the signal indicating the completion of the preparation from the 90-degree rotation device, it issues a measurement command to the laser distance meter 1. Then, the laser range finder 1 controls the scanning mirror, measures the radial height distribution on the coil 6, and transmits the distribution to the controller 4. Controller 4
Transmits the radial height distribution on the coil 6 to the radial direction arithmetic unit 2. The radial direction arithmetic unit 2 calculates the radial center position (y _g , z _g ) and radius r of the coil 6 by the least squares method by substituting the radial height distribution on the coil 6 into a circular equation. Then, the data is transmitted to the controller 4. Next, the controller 4 issues a command to the 90-degree rotation device 18 so that the scanning direction of the laser distance meter 1 is in the width direction of the coil 6. The controller 4 issues a measurement command to the laser range finder 1 upon receiving a signal indicating completion of preparation from the 90-degree rotating device. Then, the laser distance meter 1 controls the scanning mirror,
The height distribution in the width direction on the coil 6 is measured and transmitted to the controller 4. The controller 4 transmits the height distribution in the width direction on the coil 6 to the width direction calculation device 3.

The width direction calculating device 3 detects both end positions on the coil 6 based on the height distribution data of the coil 6 in the width direction, and calculates the center position x _g and the coil width D of the coil 6 in the width direction. Then, the data is transmitted to the controller 4. Controller 4
Based on the coil center position (x _g , y _g , z _g ), the radius r and the coil width D, the crane control signal is used as the crane control signal to set the target stop position (x, z) of the trolley 5 and the lowering position y of the hanging tool. And the opening amount of the hook of the lifting device (coil lifter) is output.

In this embodiment, the processing is performed in the order of the radial direction and the width direction of the coil 6, but the processing may be performed in the order of the width direction and the radial direction.

In the above embodiment, the distance measurement of the laser range finder 1 of the propagation time detection method is performed in principle by the light projecting unit 1.
If the distance a is made to coincide with the light receiving unit 1b, the interval between them is set to zero, and the propagation time is measured accurately, the distance can be measured accurately. Therefore, the propagation time detection method uses the light emitting unit 1
Since the distance between a and the light receiving section 1b may be zero or short, a compact measuring means can be realized. Therefore, it is possible to make the optical system equipment of the coil position detecting device mounted on the trolley 5 of the coil conveying overhead crane compact, which makes it easy to mount the coil position detecting device on the overhead crane dimensionally. Become. Further, the light emitting unit 1a and the light receiving unit 1
Since b is integrated, adjustment of the optical system equipment of the laser distance meter 1 can be performed in the manufacturing factory. Thus, the on-site work requires only relatively simple work such as installation and operation confirmation work of the coil position detecting device, which can reduce the labor and shorten the on-site adjustment period.

In the present embodiment, the position of the coil is detected in order to transfer by a crane, but the purpose of the position detection is not limited to this. The object to be measured is not limited to a coil, and may be an object having any shape.

[0035]

According to the position detecting device of the present invention, the use of the laser distance meter of the propagation time detecting method makes it possible to make the optical equipment for measuring the three-dimensional shape of the object very compact. This facilitates the installation of the position detecting device in dimension. In addition, since the laser light source and the light receiving unit are integrated, the adjustment work of the optical equipment of the position detection device, which was required in the past, can be greatly reduced, reducing labor and reducing the on-site adjustment period. Can be shortened.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a detection / processing system device of a coil position detection device according to an embodiment of the present invention.

FIG. 2 is a layout diagram of optical devices of the coil position detecting device according to the embodiment of the present invention.

FIG. 3 is a diagram illustrating a measurement principle of a laser distance meter of a propagation time detection method used in an embodiment of the present invention.

FIG. 4 is a layout diagram of optical devices of a coil position detecting device according to second and third embodiments of the present invention.

FIG. 5 is a block diagram illustrating a configuration of a detection / processing system device of a coil position detection device according to second and third embodiments of the present invention.

FIG. 6 is a block diagram illustrating a configuration of a detection / processing system device of a conventional coil position detection device.

FIG. 7 is an arrangement diagram of optical devices for height detection in the triangulation method.

FIG. 8 is an explanatory diagram showing the principle of three-dimensional position detection by a triangulation method.

FIG. 9 is a diagram illustrating a principle of detecting a coil position.

[Description of Signs] 1 Laser distance meter (measuring means) 2 Radial direction arithmetic unit (depth direction arithmetic unit) 3 Width direction arithmetic unit 6 Coil (object)

Continued on the front page F term (reference) 2F065 AA06 AA17 AA22 AA24 AA52 AA53 BB06 CC06 DD02 DD06 FF09 FF11 GG04 HH04 LL13 LL62 MM14 MM16 MM24 MM28 PP05 PP22 QQ18 UU06 3F204 AA02 BA05 CA01 DA03 DC08 DB06 DB06

Claims (1)

[Claims] 1. A measuring means for measuring a three-dimensional shape of an object in two cross sections, and a depth center position and a height of the object are calculated based on object shape data in the one cross section measured by the measuring means. A depth direction calculating device for calculating the width center position of the object based on the object shape data on the two cross sections measured by the measuring means. The position is a propagation time detection type laser range finder that detects a distance from the object based on a time from when the object is irradiated with the laser beam to when the reflected light is received. Detection device.