JPH06161558A - Method and device for multidimensional positioning control - Google Patents

Abstract

PURPOSE:To perform reliable positioning by canceling the fluctuation of a reference system itself or deviation caused by a measuring error, without measuring a position coordinate by providing the reference system in a real space, by executing the positioning of a movable object inside the real space inside a virtual space with an operation control part. CONSTITUTION:The position coordinates of respective points in the real space inside a detection range and the virtual space provided with coordinates corresponding to the position coordinates one to one based on detected positions are decided, a set amount expressed by the coordinates in the virtual space is set (S1,) a controlled variable such as the position or speed of the multidimensional movable object is detected as a variable provided with a component of more than two-dimensional component (S2) and the controlled variable in the real space is mapped to a controlled variable in the virtual space (S3). An instructing amount in the virtual space is calculated based on the controlled variable in the virtual space and the set amount (S4) and operations are instructed. Thus, the instructing amount in the virtual space and the instruction of operations are mapped to the real space. Thus, the fluctuation of the reference system itself caused by trouble in the combination of respective parts of the movable object or the deviation of positioning caused by the measuring error can be canceled.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a multi-dimensional positioning control method and device, and more particularly, to an operation range of a multi-dimensional movable body in which two or more movable parts performing a one-dimensional operation are combined to perform a multi-dimensional operation. The present invention relates to a multidimensional positioning control method and apparatus for detecting a control amount such as a position or speed of the multidimensional movable body in a detection range including the detection range, and performing positioning drive of the multidimensional movable body based on an instruction amount.

[0002]

2. Description of the Related Art Conventionally, there has been a one-dimensional positioning control device for a machine tool by a digital servo system as shown in FIG. The positioning control device includes a reversible counter 134 that controls an operation based on a set amount set by a keyboard or the like and a detected control amount, and an operation unit 1 that performs an operation.
33, a movable part 132 capable of one-dimensional operation which is an object of positioning control, and a linear scale (digital converter) 135 for detecting the position of the movable part 132.
As shown in the figure, the operation unit 133 has a DA for converting the deviation from the reversible counter 134 into an analog quantity.
A converter 133a, a servo amplifier 133b for amplifying a voltage value for driving the DC servo motor 133c,
And a TG (tacho generator) 132d for detecting a transient operating speed of the DC servo motor 133c.

The one-dimensional positioning control device operates as follows. When the set value is set from the keyboard, the reversible counter 134 matches the command and the feedback signal from the linear scale 135 with the reversible counter 134 in a digital amount, and the deviation thereof is detected by the DA converter 133a. Convert to analog quantity,
The servo amplifier 133b amplifies the power and drives the DC servo motor 133c. In addition, the servo motor 133c
The transient speed of is detected by the TG 133d, and is compensated by feedback in an analog amount so that hunting does not occur. Using the positioning control device, multidimensional,
For example, in the case of performing two-dimensional positioning, in the conventional example, by combining two one-dimensional positioning control devices, one positioning device performs X-coordinate positioning along the X direction and the other positioning device performs positioning. The positioning device is arranged in a movable portion of one of the positioning devices so as to be orthogonal to the one of the positioning devices, and performs positioning of the Y coordinate along the Y direction. For example, (X, Y) = (3,
When performing the positioning at the position 5), one of the positioning devices is moved by a distance of "3", and the other positioning device is moved by a distance of "5" to perform the positioning.

[0004]

As described above, in the conventional example, when one-dimensional positioning devices are combined to perform multidimensional, for example, two-dimensional positioning, one-dimensional positioning is performed. The positioning devices are orthogonal to each other to move the coordinate values corresponding to the respective coordinate component values. However, it is difficult to arrange the one-dimensional positioning devices so as to be strictly orthogonal to each other, and the linear scale 135 itself of each one-dimensional positioning device itself is not always accurately positioned due to bending of the material. Is difficult to control. Therefore, there has been a problem that it may not be possible to perform reliable multidimensional positioning by combining the one-dimensional positioning devices according to the conventional example.

Therefore, according to the present invention, positioning of a movable body capable of multidimensional movement by combining movable portions capable of one-dimensional movement can be performed easily, with a simple structure, with high reliability and precision. The present invention is made for the purpose of providing a multidimensional positioning control method and device capable of achieving the above.

[0006]

In order to solve the above technical problems, the first invention, as shown in FIG. 1 and claim 1, is a combination of two or more movable parts for performing one-dimensional operation. The control amount such as the position or speed of the multidimensional movable body is detected in the detection range including the operation range of the multidimensional movable body in which the three-dimensional movement is performed, and the positioning drive of the multidimensional movable body is performed based on the instruction amount. (S6) In the multi-dimensional positioning control method, the position coordinates of each point in the physical space within the detection range,
A virtual space having coordinates that correspond one-to-one to each other is determined based on the detected position, a set amount represented by the coordinates of the virtual space is set (S1), and a control amount such as the position or speed of the multidimensional movable body is set. It is detected as a quantity having two-dimensional or more components (S
2) Map the control amount in the real space to the control amount in the virtual space (S3), and based on the control amount and the set amount in the virtual space,
The instruction amount in the virtual space is calculated, and the operation instruction is given (S
4) Mapping the instruction amount and the operation instruction in the virtual space into the real space (S5), and performing the positioning drive of the multidimensional movable body (S6).

On the other hand, a second invention is an apparatus for realizing the multidimensional positioning control method of the first invention, as set forth in claim 2.

[0008]

Next, the control operation of the multidimensional positioning control method and apparatus according to the first and second inventions will be described with reference to FIG. In step S1, the user sets a desired set amount such as an initial position, a target position, a locus, and a speed in the virtual space so as to respond to a desired operation with respect to the multidimensional movable body which is a control target. Where "virtual space"
Means a space having coordinates of one-to-one correspondence with the position coordinates of each point of the physical space within the detection range of the detection means, and at least the distance is defined. For example, in the case where the detection means is an array of a large number of light receiving elements in dot units, the respective light receiving elements are provided with coordinates (considering the distance relationship) based on the array position thereof, and Associates with each coordinate the barycentric coordinates that represent each region of the physical space that can be detected. For setting the set amount, for example, the actual position is marked by the detecting means, and the set amount is set by detecting the mark, or the set amount in the real space is set in the virtual space. You may make it set by mapping to a set amount. Here, "mapping" refers to the correspondence between the real space and the virtual space, and "conversion" in the same space.
And is also called mapping. Further, as set forth in claim 11, the setting amount can be set by storing the set amount in a memory in advance and reading the set amount. Further, as set forth in claim 12, a set amount calculation unit may be provided for calculating an intermediate set amount by calculation by designating an initial value, a target value, and a locus of the set amount.

In step S2, the control amount in the physical space is detected. Here, the operation range of the multidimensional movable body is included in the detection range, and the control amount such as the position or speed of the multidimensional movable body is detected as an amount having two-dimensional or more components. Here, "multidimensional" means two or more dimensions,
In addition to two-dimensional and three-dimensional, for example, when a manipulator (hand) having multiple joints is a movable body,
It may have many dimensions. Further, the "multidimensional movable body" is a movable body that requires a plurality of parameters for its operation, and the "one-dimensional movable section" requires one parameter for its operation, such as distance or angle. It refers to the movable part. The "motion range" refers to the maximum range in which the multidimensional movable body can perform motions such as movement, and may be not only two-dimensional but also three-dimensional. Furthermore, as the “quantity having two-dimensional or more components”, for example, a two-dimensional position or two-dimensional coordinate when detecting on a two-dimensional plane by imaging, or a three-dimensional position or three-dimensional by stereoscopic vision.
It may be considered as dimensional coordinates. "Operating range"
Is, for example, a range constrained by a support base that operably supports the movable body. In step S3,
The control amount detected in the physical space is mapped to the control amount in the virtual space. For example, when the movable body emits spot light and the detection means detects the control amount by receiving the spot light on a plane, the control amount is obtained as two-dimensional coordinates of the light receiving position.

In step S3, the control amount is mapped to the coordinate in the virtual space by expressing the control amount in the coordinate in the virtual space determined based on the detected position. As described above, in the present invention, the virtual space is introduced and the operation is controlled in the virtual space because the virtual space is a mapping of the real space itself. It is not necessary to set a reference system, and it is possible to set an abstract and invariant absolute reference system by associating it with the virtual space. Therefore, as long as the movable body is fixed to the ground that is the background of operation, or to the indicator section, etc., it eliminates the influence of mutual orthogonality of movable sections, linearity of scale, etc. It is possible to form absolute coordinates that are easy to measure and that are easy to measure. Claim 3 shows a case of an address space as an example of the virtual space. Without being limited to this case, if the correspondence with the coordinates in the real space is attached,
For example, it may be a simple code or the like. In addition to the barycentric coordinates, various coordinates can be taken as the "positional coordinates representing each area".

In step S4, an instruction amount in the virtual space is obtained based on the set amount and the control amount mapped in the virtual space, and the operation is instructed. In step S5, the instruction amount in the virtual space is converted into the instruction amount in the real space, and is transmitted to the drive unit in step S6, and the drive unit is the multidimensional object which is the control target based on the instruction amount. The movable body is driven.

By transmitting the position signal not only from the movable body but also from the support base, the scale and the reference position can be set precisely. Also,
In addition to the case where the movable body or the support base is provided one by one,
Two or more may be provided for each.

As another embodiment of the first aspect of the present invention, as described in claim 4, since the detecting means that should be originally fixed and used at a fixed position is displaced from the original position, In order not to waste data representing the correspondence with the virtual space, or to save the trouble of newly creating such data, the detection position and detection direction of the detection means such as a CCD camera are changed. The data obtained from the detecting means in the displaced real space is subjected to coordinate conversion or the like into the data obtained at the original position in the real space. Thereby, the detection means does not necessarily have to be fixed semi-permanently at a fixed position, and can be moved as needed, which is convenient. further,
As a result, it is possible to correct the fluctuation due to the disturbance of the image of the detection means, and it is possible to perform precise positioning control.

The present invention is not limited to visible light when detecting a position or transmitting a position signal, but includes a heat ray (infrared ray), an electron beam (β ray), a particle beam (eg, α ray), and the like. It shows that it is also possible to use ultrasonic waves. According to claim 6, the multi-dimensional movable body is composed of a lower movable portion and an upper movable portion which are movable in different one-dimensional directions. Further, the movable portion is movable within the plane formed by the support base portion. According to claim 7, the movable body is restrained by the support base portion, and
The case where the movable body is movable in two dimensions and is detected from two different directions is shown. In this case, if an autofocus lens is used for detecting light as each detecting means, even if the movable body moves such that the distance to the camera changes, an image always focused Can be obtained. According to claim 8, among the movable parts, the one-dimensional direction in the two-dimensional plane by the support base part is a lower movable part which is rotationally movable in the circumferential direction, and the upper movable part is the other movable part by the lower movable part. The case where the device can move in a linear direction which is a one-dimensional direction is shown. According to a ninth aspect of the present invention, the detecting means is provided so as to be able to move relative to the support base portion or another detecting means. Claim 10 shows a case where a plurality of the movable bodies are provided.

[0015]

EXAMPLES Next, examples of the present invention will be described.
FIG. 2 shows a multidimensional positioning control device according to this embodiment.
As shown in the figure, this device is a two-dimensional movable body 2 in which two or more movable parts 2 ₁ and 2 ₂ which perform one-dimensional operation are combined to perform a multi-dimensional operation (two-dimensional operation), and the two-dimensional movable body 2 The plane formed by the drive unit 3 that drives each of the movable portions 2 ₁ and 2 ₂ of the movable body 2 based on the instruction amount and the support base portion 1 corresponding to the operation range of the two-dimensional movable body 2 is set as the detection range. Including 2
The CCD camera 5 which is one detecting means for detecting the control amount such as the position or speed of the three-dimensional movable body 2 as an amount having a two-dimensional component, and for causing the movable body 2 to operate according to the work content. A keyboard 9 for setting an initial position, a target position, a speed, etc. in the physical space, and a positioning control means 14 for controlling the positioning of the movable body 2.

The movable body 2 is provided with a position of the movable body 2,
Alternatively, the CCD camera 5 may be used to determine the speed or the like.
A spot light emitting section 6 that emits spot light such as laser light that can be detected by is provided. Further, the movable body 2 is, for example, as shown in FIG. 8, a lower movable portion which is smoothly restrained by a rail laid on the support base 1 via a bearing body so as to be movable in the X direction. Some X
It comprises a table 2a and an Y table 2b which is an upper movable part provided so as to be smoothly restrained by a rail laid on the X table 2a via a bearing body so as to be movable in the Y direction. Further, the positioning control means 14 takes in the data detected by the CCD camera 5 and carries out digital processing, an image capturing unit 41, a positioning control section 42 such as a personal computer including a CPU 43 and a memory 44, and positioning. A motor controller 45 that outputs an analog signal that indicates the number of rotations of the motor per unit time with respect to the X-axis or the Y-axis in accordance with an instruction from the control unit 42.

FIG. 3 shows in detail the CCD camera 5, the positioning control means 14 and the drive section 3 described above. As shown in the figure, the CCD camera 5 includes a condenser lens 5a and a two-dimensional CCD 5 in which CCDs are two-dimensionally arranged.
b, a register 5g in the horizontal and vertical directions, an amplifier 5c for amplifying a signal from the two-dimensional CCD 5b, an analog signal is sampled at a predetermined timing, the data is held, and the A / D circuit 41a is held. A sample hold circuit 5e for assisting normal operation of the device, a timing circuit 5f for outputting a timing signal, and a CCD driver 5d for driving based on the timing signal.

Further, the image capturing unit 41 uses the A / D circuit 41a for converting the analog signal output from the sample and hold circuit 5e into a digital signal, and the A / D circuit based on the timing signal from the timing circuit 5f. It has a timing controller 41b for controlling the timing of the D circuit 41a. Further, the control unit 42
Is a command value output unit 42a configured by a decoder that converts a command value that is a setting amount in the physical space set by the keyboard 7 into an address value that is a command value (setting amount) in the virtual space; The control circuit 42b includes a control amount and the set amount obtained from the A / D circuit 41a, and a control circuit 42b for sending and instructing an instruction amount to the drive unit 3 based on the data stored in the memory 44.

The drive unit 3 includes D / A circuits 3c and 3d for converting the digital signal into an analog signal, and a driver 3b for outputting a voltage, a current or the like which is an operation amount to a motor based on the analog signal. , 3f, tacho generators 3d and 3h for detecting the rotation speed of the motor for controlling the rotation speed, and motors 3a and 3b for giving the rotation amount or rotation speed for driving the movable part 2 by the driver. Have and.

Further, FIG. 4 shows the positioning control unit 4
2 shows the second control circuit 42b in detail. The control circuit 42b associates the position coordinates of each point in the real space within the detection range of the CCD camera 5 described above with the coordinates in the virtual space determined based on the detection position by the CCD camera 5, so that the real space is obtained. Real / virtual space mapping means 7 for mutually mapping between the position coordinates of the image and the coordinates in the virtual space.
Based on the control amount detected by the CCD camera 5 and mapped to the coordinates of the virtual space by the real / virtual space mapping means 7, and the set amount of the position or locus represented by the coordinates of the virtual space. , And a virtual space operation control unit 4 which gives an instruction amount in the virtual space and gives an instruction for an operation in the virtual space. Here, in this embodiment, the “virtual space” is the address space of the memory 44.

The real / virtual space mapping means 7 is
As shown in FIG. 4, in order to identify the CCD that receives the spot light, and when the spot light straddles the CCD, a CCD specifier 7a that identifies not only the straddling CCD but also its weight, and By mapping the formed CCDs to the addresses of the memory device based on the array position, mapping is performed between the CCDs and the addresses, and based on the addresses specified by the virtual space operation control unit 4, the corresponding realities are obtained. By reading the position coordinates of the space from the real space position coordinate storage unit 7d, a mapping unit 7c that performs mapping between the address and the real space coordinates, and a memory area indicated by each address of the memory 44 are stored in the corresponding address. The reality in which data indicating the barycentric coordinates of the area formed by the light emitting position in the real space of the spot light that can be received by the corresponding CCD is stored The inter-position coordinate storage unit 7d and the designated amount of the real space represented by the position coordinates of the real space mapped from the address by the mapping unit 7c are specified by performing calculations such as the center of gravity and sent to the operation unit 3. And a physical space position coordinate specifying unit 7b that performs the operation.

FIG. 5 is an overall perspective view of the two-dimensional movable body 2, the support base 1 and the CCD cameras 5A and 5B according to this embodiment. In this example, the two-dimensional movable body 2
Is a lower movable portion 2a that is movable on a rail fixed to the support base 1 along the X-axis direction, and a rail fixed to the lower movable portion 2a and provided along the Y-axis direction. It has an upper movable portion 2b that can move above. Further, in this example, the CCD cameras 5A and 5B are fixedly provided on the ground or the support base 1 in two different directions. Further, in FIG. 6, another movable body 2 and a support base 1 are shown.
Also, an example in which the CCD camera 5 is installed is shown. As shown in the figure, the movable body 102 according to the present embodiment has a support base 10
1, a movable portion 102a that is operable by being constrained by a groove provided along the Y-axis direction, and an movable portion that is operable by being constrained by a rail that is fixed to the movable portion 102a and that is provided along the X-axis direction. The movable portion 10b and the movable portion 10 which is constrained by the rail along the Z axis fixed to the movable portion 102b and is operable.
It consists of 2c and is capable of three-dimensional movement. Also CCD
A camera 105A is provided on the upper part, and further another CCD camera 10 is provided to capture a three-dimensional operation.
5B is fixedly provided on the ground or the support base 101. The CCD camera 105B is equipped with an autofocus lens in order to prevent the focus from being blurred due to the movement of the movable body 102, and a spot light of a constant area is always produced in synchronization with a change in the distance from the camera 105B. I am trying to get it.

FIG. 9 shows a case where the multidimensional movable body 2 is a "hand". In this case, each moving part is a movable part 2.
It comes to _{1-2 3.} Generally, in order for a "hand" in a space to have an arbitrary position and posture, it has three degrees of freedom for each of the position and posture, that is, a total of six degrees of freedom (six dimensions).
The figure (a) shows a cylindrical coordinate type and the figure (b) shows a multi-joint type. The degree of freedom for determining the position of the wrist is 3, and the degree of freedom for determining the posture of the hand is "3". Therefore, the "hand" is
It can take any position and posture in the reachable area in the three-dimensional space.

Next, the control procedure of this embodiment will be described. FIG. 7 shows a positioning control procedure according to this embodiment. Before starting the procedure from step SR1 shown in the figure, the desired matching of the virtual space and the real space (both standard matching) is performed. The multidimensional movable body 2 provided with the spot light emitting unit 6 for detecting the movable body in the real space is moved to a predetermined position in the real space, and the position is set as the origin of the movable range. The position and orientation of the CCD camera 5 that detects the spot light is adjusted with respect to the position of the origin while adjusting the coordinates and the position of the origin in the virtual space. At that time, if the origin of the real space and the origin of the virtual space where the data was matched by the initial setting are displaced due to some accident, always check how much the origin in the virtual space is displaced from the origin in the virtual space. Monitor and correct the amount of deviation. As a method of correction, as described in claim 4, when the camera position which is the detecting means is actually adjusted for translation, when adjustment is performed by changing the direction angle of the camera, without changing the camera position or the like. Coordinate conversion may be performed by calculation. Further, the attitude of the movable body 2 is adjusted with respect to the two-dimensional CCD 5b of the detecting means. When adjusting the posture,
The movable body 2 is caused to perform a full stroke operation within the movable range, and spot light is emitted by the spot light emitting section 6 provided on the movable body 2 in 4 ranges of the movable range.
The position and orientation of the movable body 2, the two-dimensional CCD 5b or the support base 1 are adjusted until the voltage or shape becomes constant for all four corners. Further, two spot light emitting portions are provided on the support base 1, and the interval between the light emitted from the spot light emitting portions is measured to recognize the scale, and the magnification of the camera 5 is adjusted according to the scale. To do. When the above adjustment of the position and the like is completed, the processing procedure shown in FIG. 7 is executed. In step SR1, the keyboard 9
Thus, the set amount (set value, command value) is set by inputting the coordinates and speed of the target position in the physical space.
The set amount thus set is input to the command value output unit 42a. The setting amount set in the physical space is calculated in step SV1.
Then, it is mapped by the decoder or the like to the set value of the virtual space, that is, the address value of the memory 44. For example, when mapping is performed by a decoder, the set amount is decomposed by weighting the representative coordinates such as the center of gravity of each area of the real space corresponding to each light receiving element, and then mapping each representative coordinate to an address. To do. In step SR2, the position of the spot light from the spot light emitting unit 6 provided on the multidimensional movable body 2 is measured by the CCD camera 5 by the real / virtual space mapping means 7.
The CCD specifying unit 7a specifies the CCD irradiated with the spot light.

The process of weighting and specifying the related CCD by the CCD specifying unit 7a will be described with reference to FIG.
The diameter of the spot light is preferably larger than the size of each CCD. Now, in the case where the laser light which is the spot light is all included in one CCD, that is, when the □ ABFD (corresponding to one CCD) in FIG. 8A includes the laser light The voltage value of the portion on which the laser light is applied reaches the maximum V, and the voltage value of the CCD around it becomes zero. Therefore, from the distribution of this voltage value, it can be concluded that the position of the laser beam is received at the position of the CCD. On the other hand, four CCDs □ AB
When the voltage values of DE, □ BCFE, □ EFIH, and □ DEHG are distributed by V / 4, it is determined that the position of the laser beam is hit by the laser beam as shown in (b) of FIG. It is determined that the center position of the laser beam will come to point E,
The position of the spot light in the real space is considered to be the position corresponding to the point E. In addition, four CCDs □ AB
When the voltage values of DE, □ BCFE, □ EFIH, and □ DEHG are distributed as V ₁ , V ₂ , V ₃ , and V ₄ , respectively, each area of the laser beam to each quadrangle is S ₁ in order. ，
If S ₂ , S ₃ , and S ₄ are satisfied, V ₁ : V ₂ : V ₃ : V ₄ =
It is determined that the distribution is S ₁ : S ₂ : S ₃ : S ₄ , and it is detected that the center position of the laser beam is the point J from the center of gravity position, and the position in the real space corresponds to the point J. It is considered to be the position to do. Actually, the dotted circle (□ D
As indicated by the size of the circle circumscribing the EHG), it is suitable that the size of the spot light has a size that completely covers the CCD.

Returning to FIG. 7, when the control amount of the position of the spot light of the movable body 2 in the real space is detected through the lens in step SR2, the process proceeds to step SV2 and the real / virtual space mapping means 7 is executed. The mapping unit 7c maps the specific detected control amount to the virtual space. In this map, each C
This is done by mapping the CD to address coordinates determined based on the array position. That is, when one CCD is specified, an address corresponding to the CCD is immediately output by a decoder or the like, and when a plurality of CCDs are specified together with their weighting, an address value corresponding to each CCD is output. Will be mapped to the address value corresponding to the center of gravity of. If the value is other than an integer value, it will be mapped to the nearest address value. When the address value is mapped from the physical space, it is input to the virtual space motion control unit 4 in step SV3. The virtual space motion control unit 4
Calculates a vector on the address space, which is a movement amount in the virtual space (address space), based on the set value mapped to the virtual space and the control amount. Step SR
The vector in the address space calculated in 3 is the mapping unit 7
The coordinate value in the real space, which is sent to the c and is stored in the address area corresponding to the start point and the end point of the vector, is read out. However, when the address value is not an integer, the physical space position coordinate specification unit 7b specifies the coordinate value in the physical space obtained by weighting the size of the decimal value.

In step SR4, when the drive section 3 receives an instruction designating the movement amount, the movement amount which is a digital amount is converted into an analog signal through the motor controller 45 to drive the motors 3a and 3e. Therefore, the operation amount such as the corresponding rotation and rotation speed can be set to the movable body 2.
The movable body 2 is operated by adding to the. Step S
At V4, the control amount in the virtual space is compared with the set value,
If they do not match, the process returns to step SV2, the movement amount is calculated and the above procedure is repeated so as to fill the difference between the set value and the control amount. On the other hand, step SV2
If the difference between the set value and the control amount in the virtual space is 0 and it is determined that the purpose in the virtual space has been achieved, the process proceeds to step SV5, and the virtual space operation control unit 4 outputs the end signal. To the drive unit 3, and the drive unit 3 sends the step SR5.
When it is determined that there is an end signal in step 3, the drive is ended.

Next, another embodiment will be described. In the embodiment, an image including the support base 1 previously stored in a memory device or the like is compared with an image including the current support base 1 detected by the CCD camera 5 and If the values do not match, the above-described processing is performed after correcting and converting the detected (captured) image so as to match the image that originally represents the position or shape. here,
The “image which originally represents the position or shape” is an image which is stored in the memory and in which the correspondence relationship between the physical space and the address value can be used. The "correction transformation" includes not only a quadrature transformation in which the scale is maintained but also a transformation including a translation transformation, a transformation in which the scale isotropically changes, or a transformation in which the scale is anisotropically changed. Thereby, the displacement of the position of the detection means itself, the distortion of the image, the distortion of the support base, and the like are detected, and the displacement and the inconsistency are corrected to analyze the image. Therefore, even if the detecting means is not fixed and used at a specific position, the position can be freely changed as needed, so that the position can be set conveniently and precisely and the reliability is enhanced. .

Further, if the support base 1 is provided with two position signal transmitters, it is easy to catch the change in the relative position of the movable body with respect to the support base, and the support base itself. Precise positioning becomes possible by detecting rotation as well. Furthermore, the scale of the support base can be easily observed by the two or more position signal transmission units, and therefore, even if the distance from the support base of the detection unit is changed, the position of the detection unit itself can be easily adjusted. It is possible to detect and perform precise position control. In this example, since the laser beam is used as the position signal transmitting section (spot light emitting section), the diameter of the light is small and the positioning is easy. LED other than laser light
May be used.

Further, in the above-mentioned embodiment, the position signal transmitting section and the detecting means (CCD camera) are provided with those for detecting visible light, but the invention is not limited to visible light, and for example infrared rays or You may make it detect signals, such as an ultraviolet ray, an electron beam, a particle beam, or an ultrasonic wave. Further, in the above embodiments, the movable body is restricted by the support base and can operate only in two dimensions. However, the movable body is configured to enable three-dimensional operation. Is also good. In that case, if the detecting means is provided in two directions, the position can be detected more accurately.

Further, as two-dimensional coordinates, XY orthogonal to each other
Although the position is represented on the coordinate plane, oblique coordinates or curved coordinates may be used instead of the orthogonal coordinates. Song coordinates (r, θ)
In the case of expressing the position by,
It can be realized by configuring the upper movable part 2b (giving r) fixed to the above by providing the drive member so as to pass through the rotation center of the rotary plate. In addition, the detection means,
Although it is arranged to be fixed separately from the movable part or the support base part, if the movable part itself or the support base part is provided with other detection means, more precise control can be performed. . Further, the detecting means does not necessarily have to be fixedly provided, and the detecting means itself may move as described in claim 9. Further, the number of movable bodies is not necessarily one, and a plurality of independently movable movable bodies may be provided. In addition to the translational movement of the movable body in a plane or in three dimensions, the movable body itself may be provided so as to be rotatable. In this case, in order to distinguish between the translational motion and the rotation motion, the position signal transmission unit is provided at the rotation center of the movable body and another position, and whether the rotation center moves or not It can be distinguished from exercise. Further, the set amount may not be input by the user each time, but may be stored in a memory or the like in advance and read and used. As described above, in the present embodiment, the real space and the address space, which is the virtual space, correspond one-to-one via the detection means, and in the real space, a specific reference system, For example, it is not necessary to measure the position coordinates by providing a scale provided on a movable part that is installed orthogonally and that performs one-dimensional linear motion.
Therefore, it is not necessary to perform warming up and to return to the origin in order to confirm the accuracy of the driving device.

In the above embodiment, the CCD is used as the detecting means, but in addition to this, for example, a PSD (position sensor head dev) using a silicon photodiode is applied.
Imaging may be performed using an ice semiconductor position detector). In this case, the position of the light spot is two-dimensionally detected without scanning the image. Since the scanning is not required, the response speed is fast, and since it is not divided, continuous position detection can be performed and the movement of the light spot moving at high speed can be detected with high accuracy.

[0033]

As described above, according to the present invention, the real space and the virtual space are in one-to-one correspondence with each other through the detecting means, and the positioning of the movable body in the real space is performed as described above. The operation control unit performs the operation in a virtual space. Therefore, unlike the conventional case, it is not necessary to specifically provide a reference system in the physical space to measure the position coordinates, and the reference system itself may fluctuate due to a malfunction of the combination of the movable parts of the movable body, or the measurement error Positioning deviation due to is eliminated, and precise and reliable positioning control can be easily performed with a simple configuration.

[Brief description of drawings]

FIG. 1 is a flow chart of the principle of the first invention.

FIG. 2 is a device configuration diagram according to an embodiment.

FIG. 3 is a block diagram according to an embodiment.

FIG. 4 is a block diagram showing a control circuit according to an embodiment.

FIG. 5 is a perspective view showing a movable body, a support base portion, a CCD camera, and the like according to an embodiment.

FIG. 6 is another movable body, a support base, and a CCD according to the embodiment.
Perspective view showing the camera etc.

FIG. 7 is a processing flowchart according to the embodiment.

FIG. 8 is a diagram showing a specific example of the CCD according to the embodiment.

FIG. 9 is a diagram showing another example of the movable body according to the embodiment.

FIG. 10 is a diagram showing a one-dimensional positioning device according to a conventional example.

[Explanation of symbols]

1 operation range (support base) 2 multi-dimensional movable body (two-dimensional movable body) 2 ₁ to 2 _n movable section 3 drive section 4 virtual space operation control section (correction operation control section) 5 CCD camera 6 position signal transmission section ( Spot light emitting part)

Claims (12)

[Claims] 1. A control amount such as a position or speed of a multidimensional movable body within a detection range including an operation range of the multidimensional movable body in which two or more movable parts performing the one-dimensional movement are combined to perform the multidimensional movement. Is detected and the positioning drive of the multidimensional movable body is performed based on the instruction amount (S6). In the multidimensional positioning control method, based on the position coordinates of each point in the physical space in the detection range and the detected position. A virtual space having coordinates corresponding one-to-one with each other, and setting amounts represented by the coordinates of the virtual space are set (S1), and the control amount such as the position or velocity of the multidimensional movable body is a two-dimensional component or more. (S2), and the control amount in the real space is mapped to the control amount in the virtual space (S2).
3) Obtain an instruction amount in the virtual space based on the control amount and the set amount in the virtual space, and give an operation instruction (S4), and map the instruction amount and the operation instruction in the virtual space to the real space. (S5), The multidimensional positioning control method characterized by performing the positioning drive of a multidimensional movable body (S6). 2. A multi-dimensional positioning control device, which is a device for realizing the multi-dimensional positioning control method according to claim 1. 3. The multi-dimensional movable body includes a light-receiving element that generates a detectable spot light and receives the spot light, for use in determining the position, speed or the like of the movable body. Arranged in a plane so as to include the spot light generated in the detection range, the virtual space to be mapped is an address space, each light receiving element, in the address space based on the array position. The data indicated by the position coordinates such as the center of gravity representing the area of the real space in which the light receiving element receives the spot light is associated with the area indicated by each address which is associated and associated with each light receiving element. The multidimensional positioning control method or device according to claim 1 or 2, characterized in that. 4. The position conversion is performed so as to match the detection range with a preset original detection range, and the position in the physical space is corrected. Multi-dimensional positioning control method or device. 5. A light, a heat ray, at one or more positions in the movable body or in the detection range, for use in determining the position or speed of the movable body or aligning the coordinate scale or the origin. The multidimensional positioning control method or apparatus according to claim 1, 2 or 3, wherein a signal generated by an electron beam, a particle beam or an ultrasonic wave is generated. 6. The operating range is within the plane of a support base that movably supports the movable body within a plane, and the movable body moves only in a one-dimensional direction within the plane of the support base. 2. A lower movable part that is constrained as possible, and an upper movable part that is constrained to be movable only in another one-dimensional direction different from the one-dimensional direction by the lower movable part. The multidimensional positioning control method or apparatus according to claim 2. 7. The movable body is constrained by a support base to be 3
The multidimensional positioning control method or apparatus according to claim 1 or 2, wherein the movable body is movable in two dimensions and is detected from two different directions. 8. One of the movable parts of the movable body is a lower movable part fixed to a support base and capable of rotational movement in a circumferential direction, and the other one-dimensional movable part is a lower movable part. 3. The multi-dimensional positioning control method or apparatus according to claim 1 or 2, wherein the upper movable part is operable in a linear direction which is another one-dimensional direction. 9. One or more detecting means comprising the light receiving elements arranged in a plane are provided, and each detecting means is provided so as to be capable of relative position change with respect to the support base part or mutually. The multidimensional positioning control method or apparatus according to claim 3, characterized in that 10. The multidimensional positioning control method or apparatus according to claim 1, wherein a plurality of the movable bodies are provided. 11. The multidimensional positioning control method or apparatus according to claim 1, wherein the set amount is stored in advance in a memory. 12. The set amount calculation unit for calculating an intermediate set amount by calculation by designating an initial value, a target value, and a locus of the set amount, and the set amount calculation unit is provided. 2. The multidimensional positioning control method or device according to 2.