JPS60221230A - Follow up method - Google Patents

Abstract

PURPOSE:To aim at automatizing the working of fabrication, and as well to avoid complicating the control operation which is necessary for follow-up of a movable base on which an automatic working machine such as, for example, robot, etc. is set, by controlling the travelling of the movable base such that it is made follow up a conveyor. CONSTITUTION:For example, in a method of carrying out follow-up of an automatic working machine for a sealing work, various kinds of assembling works, etc. in an automobile manufacturing factory, the movable base 10 of a follow-up unit 6 may stably travel on a guide rail, and further, the travelling range thereof is determined by a robot 12 in consideration with the time of a work such as, for example, a sealing work. Further, the base 10 travels to follow up a conveyor 1 such that the relative positional deviation between a reference point and a follow-up point in the direction Y becomes zero, that is, the relative positional relationship between the robot 12 on the base 10 and a door 2 clamped by a hanger 3 is made always constant. Thus, the operation of working may by automatized while it is possible to avoid complicating the control necessary for the follow-up.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a following method for causing a movable base on which an automatic working machine such as a robot is mounted to follow a conveyor.

In recent years, for example, in automobile manufacturing factories, various types of industrial robots and specialized machines (such as automatic screw tightening machines) have been developed to perform sealing work and various assembly tasks that were previously performed by workers. Many attempts are being made to have automated working machinery perform the tasks.

By the way, such automatic working machines generally move the workpiece positioned at a predetermined position within the work area.
Since the work is to be taught in advance or a specific work is to be carried out, it is desirable to carry the work into and out of the work area by a conveyor (shuttle conveyor) from Tough 1 to Feed. However, most of the conveyors installed on the current lines that perform the above-mentioned sea link work and various types of assembly work are continuous conveyors such as power and free conveyors and slat conveyors. Considering the enormous equipment cost required to change this continuous conveyor to a tough 1-feed conveyor, it is recommended to change the working mode of automatic working machines to a continuous one without using a tact-feed conveyor. It is clear that it would be better to devise ways to adapt it to the narrow conveyor.

One of the ways to do this is to use the following well-known method that takes advantage of the versatility of the robot's movements.

In other words, if the robot is within its movable range, 1 eye 1-
This is a method of synchronizing the movements of the robot and the continuous conveyor for a certain period of time by making use of the robot's ability to move in the same direction as the robot 1, thereby allowing the robot 1 itself to perform work while following the conveyor.

However, this method requires a lot of effort, such as placing the work on a conveyor or taking it out from a conveyor. l
Although it is suitable for big ant place work, it is hardly suitable for the above-mentioned sea link work or various types of assembly work.

This is because the work trajectory becomes very complicated in such work, and when the work trajectory becomes complicated, the synchronization control for the robot 1-side conhair becomes very complicated.
Also, depending on the relationship between the time required for one task, the speed of the conveyor, and the movable range of the robot, there is a possibility that the robot 1- may not be able to complete the task within its followable range.

Furthermore, there is a problem in that the above-described method cannot be applied to a special-purpose machine that is not versatile in its movements.

A possible solution to this problem is to place the automatic working machine on a cart that can travel along the conveyance direction of a continuous conveyor, and to mechanically connect the cart and the conveyor for a certain distance. In this method, the automatic work machine follows the conveyor until the work is completed.

However, in order to adopt such a method, it is not only necessary to develop an attachment/detachment device that mechanically connects and separates the two and install it in multiple stages on the existing conveyor, but also requires a lot of effort in the conveyor. There are many issues that must be resolved, such as the need to take measures to reduce the load and to cushion the impact at the start of tracking.

This invention was made in view of the above-mentioned background, and it is a scale that can be applied to all automatic working machines, requires almost no modifications to existing equipment, and is easy to control. The purpose is to provide a tracking method that is not complicated.

Structure ----l For this reason, the tracking method according to the present invention provides a method of tracking between a predetermined follow-up point on the conhair side and a predetermined reference point on the movable base side on which an automatic working machine such as a robot is mounted. The relative positional deviation in the conveyor transport direction is sequentially detected on the movable/inlet side, and then the traveling of the movable base is controlled so that the detected positional deviation relative to 411 becomes zero, and the movable base follows the conveyor. .

11 Examples of the present invention will be described below with reference to the accompanying drawings.

FIG. 1 is a perspective view of the construction around the sea-link work stage of a sea-in to which the tracking method according to the present invention is applied.

In the same figure, 1 is a power and free conveyor, and a door hanger clamps a door 2 by hooking a dog on a free 4-line 1b with a hook driven in the Y-axis direction by a chain (not shown) on a power line 1a. 6 are sequentially conveyed in the Y-axis direction at a predetermined speed.

Reference numeral 4 denotes a rear roller, which receives a pin 3a provided on the rear surface of the door hanger B, as shown in FIG. It is designed to lift by an angle θ (the effect will be described later).

The installation range of the back roller 4 is such that it can at least cover the sealing work stage as shown in the figure, and the door hanger 3 is installed so that it can be smoothly mounted on and removed from the back roller 4. , guide devices (not shown) are provided at both ends of the back roller 4.

5 is a safety fence which surrounds the sealing work stage and prohibits work tools from entering the stage without permission.

6 is a follow-up unit installed along the Y-axis direction, which is the flow direction of the conveyor, and it takes the tacho generator 7 ((J
The movable base 10 is moved in the directions of arrows Y1 and Y2 by a pole screw S that is rotationally driven by a multi-pole motor 8.

The movable base 10 of this follow-up unit 6 is designed to run stably on rails (not shown), and its travel range is determined by the sealing work time by the robot 12, etc., which will be described later. This is determined after consideration.

Further, the origin position of the movable base 10 is assumed to be near the normal running end (1) on the motor 8 side.

On this movable base 10, a multi-jointed robot 12, which has a sealing ring 11 at its tip and serves as an automatic working machine, is mounted and fixed.

The movable base 10 also has an inverted boss 13.
is fixed so as not to interfere with the movement of the robot 12, and a follow-up position detector 1 consisting of a line image sensor, a drive detection circuit, etc., which will be described later, is installed at the tip of the post 13.
4 and a spot light source 15 are attached.

The line image sensor in this follow-up position detector 14 is arranged so that its longitudinal direction is parallel to the Y-axis direction, and the center position of the line-shaped light receiving part is used as a reference point on the movable base 10 side. There is.

Further, the arrangement relationship between the tracking position detector 14 and the spot light source 15 is such that when the spot light emitted from the spot light source 15 is reflected by the door 2, the reflected light enters the line image sensor in the tracking position detector 14. The relationship is such that

Reference numerals 16 and 17 denote posts, which are erected near the end of the back roller 4 and facing each other so as to sandwich the door 2 which passes through while being lifted up by the back roller 4E.

A seating posture detector 18 for detecting the seating posture of the door 2 is mounted on the post 16, and a slit light source that emits slit light parallel to the ziII11 direction toward the seating posture detector 18 is mounted on the post 17. They are installed respectively.

20.21 is also a post, and posts 16.17-7 = 1 to 72, which are located a predetermined distance away from the post 16.17-7, also pass while being lifted by the back roller 4.
They are erected facing each other so that they are sandwiched between them.

A seating posture detector 22 is attached to the post 20, and a slit light source 23 that emits slit light parallel to the Z-axis direction toward the seating posture detector 22 is attached to the post 21, respectively.

Note that the seating posture detectors 18 and 22 are each composed of a line image sensor and a drive detection circuit, which will be described later, and each line image sensor is arranged so that its longitudinal direction is parallel to the Z-axis direction. It is.

Also, a seating posture detector 18.22 and a slit light source 19.
The height position of 23 is a position where the lower end of the door 2 can always intersect with the imaging range of each line image sensor, and is lower than the height position of the line image sensor of the tracking position detector 14, and The position of the attitude detector 22 in the Y-axis direction is upstream of the position where the follow-up position detector 14 is located when the movable base 10 of the follow-up unit 6 has returned to the origin position on the motor 8 side.

Further, 24 is a follow-up control unit that controls the rotation of the motor 8 of the follow-up unit 6, and 25 is a seat position calculation unit 1 that calculates the seat position of the door 20 clamped to the door bunker 6.

Further, 26 is a robot control device that controls the robot 12, and 27 is a filler pump that pumps the filler through a hose (not shown) to the sealing can 11 attached to the tip of the robot 1-12.

Note that the robot control device 26 includes a follow-up control unit 2.
4 and the seating posture calculation unit 25 are also equipped with a power supply device that supplies power.

Next, the configuration of the control system will be explained with reference to FIGS. 3 to 6.

First, in FIG. 3, the follow-up control unit 1 24 includes a central processing unit (CPU) 28a and a read-only memory (program memory) [ROM] 28b.

Random access memory (data memory) [RAM] 2
8c, an input/output device (T10) 28d, etc. for data processing, and a follow-up controller 28.

Between the microcomputer 28 and the robot control device 26, the robot 1 operation start command SS1 from the microcomputer 28, the work completion signal SE, all work completion signal SEE, and robot home return signal SG from the robot control device 26 are transmitted. Signals are exchanged with the

Further, the microcomputer 28 outputs a calculation start command S S 2 to the seating posture calculation unit 1 25 .

The 5 microcomputer 28 then sends other follow-up control start commands SS3. Follow-up control stop command ST.

and controller 2 that follows the movable base return command SR.
9, clock star 1-stop command S E 71
1 detection start command S85. A detection stop command Sr is outputted to the drive detection circuit 31 that controls the line image sensor 30 in the tracking position detector 14, and a lighting/disappearance command Sl- is outputted to the spot light source 15, respectively.

The microcomputer 28 also receives a tracking start timing signal Sc from the drive detection circuit 1 and an origin signal SO from an origin detection limit switch 32 that is turned on when the movable base 10 in FIG. 1 returns to the origin position. is now entered.

On the second day of the follow-up controller, the microcomputer 28
Following control start command SS 3+following control stop command S
T, movable base return command s In addition to R, relative position deviation data ΔX from the drive detection circuit 31, final bit output PE from the line image sensor 30, origin signal So from the origin detection limit switch 32, the first A runaway signal EM from the runaway prevention limit switch 63 (normally, the work is completed before this switch) is turned on when the movable base 10 shown in the figure travels near the running end in the direction of arrow Y1, and the motor The speed feedback signal Sυ from the 4-digit tachogenerator 7, which is connected to the output shaft of 8, and the tachogenerator 11 for line speed detection. A reference speed signal Sv corresponding to the reference speed signal Sv is respectively input.

The tacho generator 64 for line speed detection is connected to a sprocket 35 that meshes with the drive chain CI of the power amplifier 1 and the free conveyor 1, for example, as shown in FIG.
and a gear train g1 to g connected thereto, which rotates at an increased speed through a speed increaser consisting of gear trains g1 to g, 1, etc., thereby generating a reference speed signal corresponding to the conveyance speed of the free conveyor 1. It is designed to output Sv.

The sitting posture calculation unit 25 includes a central processing unit (CPI-
J) 25a, Read-only memory (block memory) [ROM] 25b, Random access memory (data memory) [RAM 25C2 and input/output device M10
) 25d and other microcomputers.

The sitting posture calculation unit 25 and the robot control device 26
The calculation completion signal SOK from the seating posture calculation unit 25 and the calculation data [δko12−[7? The data request signal SN and all work completion signal SEE from the robot control device 26 are exchanged.

The seating position calculation unit 25 also receives a calculation start command SS2 from the microcomputer 28 of the follow-up control unit 24 described above, and each drive detection unit that controls the line image sensors 36 and 37 in the seating position detectors 18 and 22, respectively. Detection data from circuit 38°3 days [:d+1
, [d2] are input.

Then, this seating posture calculation unit 25 sends clock star 1...stop commands SQ to the drive detection circuits 38 and 39.
,, SQ2, slit light source for 1 day.

23, output the lighting/lighting out commands SQ3 and SQ4, respectively.

Next, in FIG. 5, the follow-up controller 29 controls the gain adjustment amplifier 40. Latch circuit 41° D/A converter 42
．． Gain adjustment amplifier 43. Addition circuit 44. Analog switch 45. Amplifier 46° adder circuit 47. Amplifier 48. Set/reset type flip-flop circuit (FF) 49
,51. OR circuits 50, 52. Return circuit 53. and an analog switch 54.

Then, the gain adjustment amplifier 40 adjusts the gain of the reference speed signal Sv from the tacho generator 64 shown in FIGS. 6 and 4 and outputs it. .

The latch circuit 41 latches the relative position deviation data ΔX (sometimes positive and sometimes negative) from the drive detection circuit 31 every time the final bit output PE is output from the line image sensor 60. .

The D/A converter 42 converts the relative position deviation data ΔI latched in the latch circuit 41 into an analog relative position deviation signal ΔS, and the gain adjustment amplifier 43 converts the relative position deviation data ΔS into an analog signal. The gain of the relative position error signal ΔSx is adjusted and output.

The adder circuit 44 adds the reference speed signal Sv and the relative position error signal ΔSx, which are respectively gain-adjusted and output from the gain adjustment amplifiers 40 and 43, and outputs the addition result as an addition signal SF.

Note that the relative position deviation data ΔX latched by the latch circuit 41 has positive and negative times, so when ΔX is positive, S F ) S v and when negative, S F < S
It becomes v.

The analog switch 45 switches the FF 49 in response to the follow-up control start command Ss3 from the microcomputer 28 in FIG.
When set, it turns on and sends the addition signal SF to the amplifier 46.
A follow-up control stop command ST from the microcomputer 28 is output to the FF 49 via the OR circuit 50.
Or the runaway signal E from the runaway detection limit switch 36
When reset by M, it turns off and the addition signal S F
cut off.

The amplifier 46 amplifies the addition signal SF or the return signal SB, which will be described later, by a predetermined amount, which is input via the analog switch 4.

The addition circuit 47 receives the amplified addition signal S from the amplifier 46.
A deviation 15- signal ΔS based on the deviation between the F or return signal SB and the speed feedback signal Sυ from the tachometer generator 7 attached to the output shaft of the motor 8 is output, and the amplifier 48 amplifies the deviation signal ΔS to drive the motor. Output to 8.

F F 5 i is set by the movable base return command SR from the microcomputer 2B input via the OR circuit 52 or the runaway signal EM from the runaway detection limit switch 3B, and is set by the runaway signal EM from the origin detection limit switch 32. It is reset by the origin signal SO.

The return circuit 53 outputs a return signal SB which operates to open when the Q output of the FF 51 is '1'' and rotates the motor 8 in a direction in which the movable base 10 returns to the origin.

The analog switch 54 is such that the Q output of the FF 51 is "1".
The return signal SB output from the return circuit 53 is output to the amplifier 46 during this period.

The line image sensor 60 of the tracking position detector 14 is composed of, for example, a 2048-pixel MOS or CCD image sensor, and outputs a video output S1 according to the light received by the light receiving section 30a. The scanning circuit sequentially outputs the signals.

The drive detection circuit 31 of the follow-up position detector 14 includes a clock generator 55. To counter 5B, binarization circuit 57, cellar 1・
Reset 1-type flip-flop circuit (FF) 58. A
ND circuit 59.61. Comparison circuit 60. Launch circuit 62.
OR circuit 63. and a subtraction circuit 64.

The clock generator 55 operates when the clock start/stop command SS4 from the microcomputer 2 is a clock start (for example, I"), and generates a predetermined frequency (
A clock signal cp of, for example, 2.5 MHz) is output to the clock input terminal of the line image sensor 30, and stops when SS4 becomes a clock stop (eg, '0').

The counter 5G receives the clock signal Cp from the clock generator 55, detects the scanning pixel position in the line image sensor 30, and detects the scanning pixel position in the line image sensor 30.
The count value N is determined by the final pick 1 from 0 to output PE1.
x is reset.

Note that this counter 56 is a binary counter with a capacity of at least 12 pits 1 to 1, and has a capacity of at least 12 bits.
[)I' Nikaun! - Assuming that it is possible.

The binarization circuit 57 compares the video output VS of each pixel sequentially outputted from the line image sensor 30 in synchronization with the clock signal CP with a predetermined slice level (binarization level). The video output VS outputs a binarized videotator Dv1 which is 1' when the video output VS is higher than the slice level and 0' when the video output VS is lower than the slice level.

The FF 58 is reset to the cell 1 by a detection start command SS5 from the microcomputer 28, and reset by the detection stop command Sr from the microcomputer 28.
- to be done.

The AND circuit 5S outputs the Q output of the FF 513 as 1", and also the binary video output Dvl from the binarization circuit 57 as 1".
The output is set to 1' only when .

The ratio 1 cough circuit 60 calculates the count value Nx of the counter 56 and the center pixel position of the line image sensor 30 (movable head 1
r 400 II J (10
24), and the output is set to 1'' only when N x = 400 H.

The AND circuit 61 outputs 1'' only when the output of the comparison circuit 60 is ``1'' and the binary video output Dv1 from the binary conversion circuit 57 is also ``I''.

Note that the output " ] " of this ANI) circuit 61 is outputted to the microcomputer 28 as a follow-up start timing signal Sc.

The latch circuit 62 receives A input via the OR circuit 63.
The count value Nx of the counter 56 at the time when the output of the ND circuit 5 or 61 rises from 0'' to 1'' is latched.

The subtraction circuit 64 subtracts "r400n" indicating the center pixel position of the line image sensor 30 described above from the count value Nx latched in the latch circuit 62, and uses the subtraction result as relative position deviation data Δ to send to the tracking controller 2. It is output to the lunch circuit 41 on the day.

Next, in FIG. 6, the seating position detector 18°-1,!
] - The line image sensors 3E, 37 in 22 are.

Again, it consists of a MOS type or CCD type image sensor with, for example, 2048 pixels (pixels 1-), and the light receiving part 36a (3
Video outputs S2 corresponding to the light received in step 7a) are sequentially output by an internal scanning circuit.

The drive detection circuit 38 (39) has a clock generator 65. Counter 66. Binarization circuit 67, latch circuit 68. and a subtraction circuit 69.

The clock generator 65 operates when the clock start/stop commands SQ, sQ2 from the seating posture calculation unit 25 is a clock start (for example, "1"), and generates a clock of a predetermined frequency (for example, 2.5M+-Tz). The signal ck is output to the clock input terminal of the line image sensor 3F) (37), and stops when SQ, .

The counter 66 counts the clock signal ck from the tarlock generator 65 and detects the scanning pixel position in the line image -20=sensor 3Ei (37),
Final pick 1 from line image sensor 3F+ (37)
- The count value Mx is reset by the output PE2.

Note that this counter 66 is also a binary counter with a capacity of at least 12 bits, and is r2048J (800H).
It is assumed that the number can be counted.

The binarization circuit 67 is a line image sensor 3B (37)
The video output VS2 for each pixel output in synchronization with the clock signal ck is compared with a predetermined slice level (binarization level), and when the video output VS2 is equal to or higher than the slice level, the slice level is determined as 1''. Binarized video data DV2 which becomes 0'' when the value is less than 0'' is output.

The latch circuit 68 latches the count value Mx of the counter 66 at the time when the binarized video data D v 2 from the binarization circuit 67 falls from 1'' to "o". The scanning direction of 37) is the Z-axis direction from bottom to top.

From the count value Mx latched in the latch circuit 68, the subtraction circuit 69 calculates the line image sensor 3Ei corresponding to the seating position at the lower end of the door when the door 2 is normally clamped to the door bunker 3 in FIG. The reference pixel position data Mo indicating the pixel position in (37) is subtracted, and the subtraction result is output as detection data [d+] ([d2]).

Next, before explaining the operation of this embodiment, the behavior of the power and free conveyor 1 shown in FIG. 1 when it is in operation will be specifically explained.

This power ant-free conveyor 1 may appear to be moving at a constant speed due to a chain drive, but in reality, it may move at a constant speed due to various factors such as the spring constant of the chain, the friction coefficient of moving parts, and the inertial vibration of the door hanger 3. 7th
As shown in the figure, the conveyance speed fluctuates drastically over time.

This speed fluctuation (surging) is a fluctuation in the Y-axis direction of the door bunker 3 that clamps the door 2, and as shown in the figure, the speed fluctuation is a maximum of about 0.0. It fluctuates by 9m/min.

Therefore, if the movable base 10 in the tracking unit 6 follows the door bunker 3 at a set speed, the robot 1
12 cannot perform accurate sealing work.

Therefore, in this embodiment, the reference speed signal Sv from the tachogenerator 34, which approximately corresponds to the speed of the door bunker 3, is successively corrected using the relative position deviation data Δ detected by the follow-up position detector 14. This is an attempt to deal with fluctuations in recording speed. This will be explained in detail later.

In addition, in the power and free conveyor 1, the door bunker 3 may meander and undulate in the X- and Z-axis directions due to factors such as the bending of the kite rail and the inertial vibration of the door bunker 6. fluctuations) or
While passing through the Sealink work stage, the door hanger 3
The robot 1- is moved by the back roller 4 as shown in FIG.
By receiving it in a state where it is raised by an angle O to the 12 side, such fluctuations can be suppressed.

Hereinafter, with reference to the drawings after Figure 8, the book 231 The operation of the embodiment will be explained.

First, as a premise, various control systems such as the follow-up control unit 249, the seating posture calculation unit 25°, and the robot control device 26 shown in FIGS. It is assumed that the movable base 10 shown in FIG. 1 has returned to its origin.

Microcomputer 2 in follow-up control unit 24
When the power is turned on, the CPU 28a of No. 8 performs a predetermined initialization process, and then starts the block diagram I shown in FIG.
At 5TEP 1 in the processing flow, a clock start/stop command SS4 is outputted to the drive detection circuit 31 of the follow-up position detector 14 without indicating a clock start, and a lighting/lighting out command S is outputted to the spot light source 15 to indicate lighting.
Output L.

As a result, the clock generator 55 shown in FIG. 5 starts outputting the tarlock signal Cp, and the spot light source 15 shown in FIGS. 1 to 6 lights up to project a spot light.

24- Then, the C:PU 28a waits until the robot origin return signal SG is input from the robot control device 26 at 5TIEP2 in FIG. 8, and when the signal SG is input, advances the process to 5TEP3, It waits for the tracking start timing signal Sc to be input from the drive detection circuit 31.

Note that, upon initial startup, the robot control device 26 confirms that the robot 12 has returned to the work origin, and
The robot origin return signal SG is output.

On the other hand, when the power is turned on, the CPU 25a of the sitting posture calculation unit 25 also performs a predetermined initialization process, and then performs sitting posture detection at step 5TEP]3 in the processing flow of the program IT shown in FIG. It outputs clock start/stop commands SQ, .SQ2 indicating clock start to the drive detection circuits 38.39 of the device 18.22, respectively, and on/off commands SQ3., SQ2 indicating lighting to the 5-slit light source 19.23, respectively. Output SQ4.

As a result, the clock generator 65 shown in FIG. 6 starts outputting clock number 916 ck, and the clock generator 65 shown in FIG.
The slit light sources 19 and 23 shown in the figure are turned on to emit slit light.

And, the CPU 25a is 5TEP14 in FIG.
Then, the microcomputer 28 or J in the follow-up control unit 1 24 also waits for the calculation start command S S 2 to be input.

Next, Yll is conveyed by the power free conveyor 1 shown in FIG.
! When the door bunker 3 that clamps the door 2 sent in the I11 direction rides on the back roller 4 and advances to the position where the edge 2a of the door 2 in the flow direction is illuminated by the slot 1 light from the spot light source 15. For example, as shown in FIG.
The light is incident on the lens 0a via the lens Lz.

For example, if the addresses of 2048 pixels aligned in the Yll11 direction in the light receiving section 30a are set to increase in the flow direction as shown in the figure, the edge 2 of the door 2
The reflected light from a is initially 80 due to the action of the lens LZ.
As the edge 2a advances in the Y-axis direction after being incident on the 0n pixel, the incident position of the reflected light from the edge 2a will conversely move toward OOOH.

5 In this way, when the reflected light of the spoiler 1 light from the door 2 enters the light receiving section 30a, it is successively scanned based on the tarok pulse cp output from the clock generator 55 shown in FIG. A video output from the line image sensor 30 is such that, depending on the incident position of reflected light during scanning, the signal level is low at pixels where reflected light is not incident, and the signal level is high at pixels where reflected light is incident.
S.

is now output in time series for each scan, and by sequentially binarizing this video output V S t in the binarization circuit 57, only the take corresponding to the pixel on which the reflected light is incident is output. For example, (A) (mouth) in Figure 11 becomes 1''.
Binarized video data DVI for one scan as shown in c)
are obtained sequentially.

Then, the edge 2a of the door 2 just reaches the reference point (400) () at the center of the light receiving section 30a, and the signal from the 27-binarization circuit 57 for one scan as shown in FIG. When the binarized video data Dv1 starts to be output, the clock signal Cp from the clock generator 55 is counted every scan (clock signal cp for 2048 pulses) to detect the scanning pixel position. When the count value Nx of the counter 56 in FIG.
The output of the ND circuit 61 changes from 0' to 1'', and this output of 1'' is output to the microcomputer 28 in FIG. Latched.

In addition, below, the edge 2a of the door 2 is assumed to be a follow-up point on the side of the power ant-free conveyor 1, and the movable base 10 is attached to this follow-up point.
The light receiving section 3 of the line image sensor 30 which is the reference point on the side
In order to follow the center position of 0a, the relative positional deviation between the two in the Y-axis direction is calculated.

Returning to FIG. 8, the CPU 28a is the drive detection circuit 28.
- Follow-up start timing signal Sc from the AND circuit 61 of 31
When received, the process advances from 5TEP 3 to 5TEP4, and outputs a computation start command S82 to the seating posture calculation unit 25, and also outputs a follow-up control start command SS3 to the follow-up controller 2B and a detection start command S to the follow-up position detection circuit 31.
Output S5 respectively.

After that, proceed to 5TEP 5, perform delay processing to wait for a certain period of time, and then proceed to the next 5TEP.
6, the robot control device 26 is commanded to start robot operation SS
, outputs.

Then, in the first step 5TEP 7, the CPU 28a waits for the work completion signal SE to be input from the robot control device 26.

In addition, the delay processing in 5TEP 5 is performed on the movable base 1.
This is done to wait until the 0 position and the position of the door bunker 3 in the X and Z axis directions become stable.

This process can be omitted if the robot 12 is stable while moving to the sealing work position.

On the other hand, in the processing at 5TEP 4, the calculation start command S S
2 is output to the seating posture calculation unit 1-25, the CPU 25a advances the process to 5TEP15 in FIG. 6, and reads the following numerical data from R, 0M 25b.

That is, a seating position detector 18 as shown in FIG.
Line image sensor on 22nd 3rd.

The distance data L between the light receiving sections 36a and 37a of the light receiving sections 37. and the center position of the light receiving part 30a of the line image sensor 30 in the tracking position detector 14 (r10 at the reference point)
24J (pixel position of 400H:l) in the Y-axis direction and the posture shown by the dashed-dotted line when the door 2 is normally clamped to the door bunker 3 in FIG. Light receiving section 3 corresponding to the seating position at the lower end
Distance data a in the Z-axis direction between the reference pixel positions (MO) of 6a and 37a and the light receiving section 30a is read out.

And drive detection circuit 38.39 with primary 5TEP1.6
Detection data [d+] [d2] is taken in from.

Note that the detection data [d1] [d2] captured at this point
] is data like Richiji.

Line image sensor 36.3 shown in FIGS.
7 and drive detection circuits 38 and 39, 5TEP in FIG.
From the time when the CPU 25a outputs the command SQI+SQ2 in step 13, the readout scan of the video output S2 and the detection of the scanning pixel position are performed by the clock signal ck output from the clock generator 65. 6
Every time the binarized video data Dv2 output from 7 falls from 1'' to 0'', the count value Mx of the counter 66 indicating the pixel position changed from 1'' to 0'' is latched in the latch circuit 68, The subtraction circuit 69 subtracts the aforementioned numerical data Mo indicating the reference pixel position from the latched count value Mx.

Therefore, the edge 2a of the door 2 is exactly at the light receiving part 30 of the line image sensor 30 in the tracking position detector 14.
In synchronization with the time when the center position of a is reached, the drive detection circuit 3
When the detection data [dl] [d2 which is the subtraction result from the subtraction circuit 6th of 8 and 3S is taken in, [dl] [d2
] is the door 2 clamped to the door hanger B in Figure 1.
31- The seated posture is as shown by the broken line in FIG. 12, and the count values latched in the latch circuit 68 are Mxl and Mx.
2, Mxl-Mo (= [d 1] ), Mx2
−Mo (”[d2],).

Returning to FIG. 9, CPU 25a has 5TEP1.6
Upon completion of the capture process in 5TEP]7, the slope δ of the door 2 is calculated as follows.

In other words, distance data L read out in 5TEP15 and 5
Detection data imported with TEP1.6 [d+co [d2
Based on this, the calculation δ2 an [(d+d2)/L is executed to determine the normal seating posture of the door 2 shown by the dashed line and the normal sitting posture of the door 2 shown by the dashed line as shown in FIG. A slope δ indicating the rotation angle about the center position (reference point) of the light receiving section 30a of the line image sensor 30 in the tracking position detector 14 between the sitting posture and the solid line of the seated posture is calculated.

Then, when the calculation of 5TIEP]6 is completed, CPU2
5a is 5TEP], and in step 7, the following displacement amount p of the door 2 is calculated.

32- That is, in FIG. 12, when the normal seating position of the door 2 shown by the dashed-dotted line is rotated by an angle of δ determined by 5TEP]7, the lower end of the door 2 will move to the position shown by the dashed-dotted line, for example. However, it is actually located at the place shown by the broken line (because it is extended, the amount of scratch p is 5TIEP), and the distance theta a, b read in 5.

Detection data captured by 5TEP16 [d2 and 5
Based on the slope δ determined in TEP7, ``” (d-2d2')cosδ d2' =, a(1-cosδ)+(b-asj
−n δ ) tan δ.

After completing the calculation in 5TEP18, the CPU 25a advances the process to 5TEP], 9, and sends a calculation completion signal S to the robot control device 26 shown in FIGS. 1 and 3.
Outputs OK, and in the next 5TEP20, robot control device 2
Waits for input of data request signal SN from 6.

Then, when the data request signal SN is input, the CPU
25 a is 5TEP2], and 5TEP1
Tilt data set at 7°18 [δ] and thread plate data [,
f? ] is output to the robot control device 26, then STEP
At 22, all work completion signal SEE is sent from the robot control device 26.
Check whether or not is input, and if it is not input, return to 5TEP l 4 and follow up control unit 24.
A calculation start command Ss is issued again from the microcomputer 28 of
Wait for 2 to be input, if it is input, 5TEP2
Proceeding to step 3, the clock star 1, .
On/off commands SQ3 and SQ indicate lights off at 23 and 23, respectively.
After outputting 4, all processing ends.

In addition, the robot control bag f! 2G outputs a data request signal SN to the sitting posture calculation unit 1-25 when the calculation completion signal so r< is input from the sitting posture calculation unit 1-25 on the condition that the drive control of the robot 12 is not performed. It is supposed to be done.

In addition, the tilt data [δ] and the scratch amount data [1 outputted by 5TEr-'21 are used in the robot control device 1126 to correct the teach data indicating the sea link work trajectory for (A2). , slope data [δ
] and deviation amount data [, 1, the seating posture calculation unit 25 outputs a coordinate transformation matrix calculated based on the tilt data [δ and the deviation amount [e] to the robot control device 26. It's okay.

Further, the robot control device 26 is assumed to output an all-work completion signal SEE, for example, in response to a command from a sequence controller 1-roller (PC) that sequentially controls various devices installed on the line. .

On the other hand, in the process at 5TEP 4 in FIG. 8, the follow-up control start command SS3 is output to the follow-up controller on the 2nd day, and the detection start command SS5 is output to the drive detection circuit 31 of the follow-up position detector 14. Both control the movement of the movable base 100 as follows to make the robot 12 follow the power ant-free conveyor 1.

That is, first, when the follow-up control start command SS3 is input to the follow-up controller on the 2nd day, FF4S in FIG. 5 is set and the analog switch 45 is turned on.

At this point, since the FF 51 is still reset by the origin signal So from the origin detection limit 1 to the switch 32 when the movable base 10 returned to the origin last time, the analog switch 54 is turned off. There is.

Then, when the analog switch 45 is turned on, the edge 2a of the door 2 is initially in a state where it has just reached the reference point on the movable base 10 side, which is the center position of the line image sensor 30 in the tracking position detector 14. , since the relative position error signal ΔS1 is zero (this will be explained later), the gain adjustment amplifier 4 from the tacho generator 34
The reference speed signal Sv whose gain is adjusted to 0 is added to the adder circuit 4.
4 is outputted to the amplifier 46 as the addition signal SF.

Therefore, the amplifier 48 generates a deviation signal ΔS( ΔS-3v
) is amplified and output to the motor 836-, so the motor 8 is connected to the movable base 10.
begins to rotate so as to travel in the Y-axis direction at approximately the same speed as the conveyance speed of the power and free conveyor 1.

On the other hand, when the detection start command SSs is input to the drive detection circuit 31 of the follow-up position detector 14, the FF 58 shown in FIG. The binarized video data Dv1 is this AN
The data is input to the latch circuit 62 via the D circuit 5 and the OR circuit 63, so that every time the binarized video data Dv rises from '0'' to 1'', the counter 56
The count value Nx of is now latched in the latch circuit 62.

Therefore, when the edge 2a of the door 2 clamped to the door hanger 3 reaches the reference point on the side of the movable base 1, which is the center position of the line image sensor 30, the value r4001 (Karan of J) - Nx is the latch circuit 62
However, the movable base 10 begins to move as described above, and the base f4J! on the movable base 10 side is latched. There is a slight relative positional deviation in the Y-axis direction between the center position (400H) of the line image sensor 60, which is a point, and the end m2a of the door 2, which is a follow-up point on the conveyor 1 side, based on the speed fluctuation shown in FIG. When this starts to occur, the latch circuit 62 starts latching a count value Nx indicating the position on the line image sensor 30 corresponding to the position of the edge 2a of the door 2 every time the line image sensor 30 scans. .

In the past, the Japanese head position deviation data △X calculated by the subtraction circuit 64 is zero at first, and thereafter it is always N indicating the relative positional deviation between the above-mentioned guide point and follow-up point for each sensor scan.
x-4,0OR (Positive or negative case or zero case)
This relative position deviation data ΔX is latched into the follow-up controller 2nd launch circuit 41 at the timing of the final bit output PE outputted from the line image sensor 30 every time one scan is completed.

When the latch circuit 41 latches the positional deviation data Δ every time one scan is completed, this data Δ becomes velocity dimension data, and this velocity dimension based data Δ
After D/A conversion of
It is possible to obtain a velocity dimension-based relative position error signal ΔSx that can be corrected to a signal indicating the actual transport speed which varies slightly.

Therefore, this relative position deviation signal ΔSx is added to the addition circuit 4.
4 to form an addition signal 5F=Sv+ΔSx, the movable base 10 is moved in the Y-axis direction between the reference point and the follow-up point by the motor 8 that rotates based on this addition signal SF. Follows the power and free conveyor 1 so that the relative positional deviation becomes zero, that is, the relative positional relationship between the robot 12 on the movable base 10'' and the door 2 clamped on the door hanger B is always constant. Starts running.

Note that the conveyance speed of the power and free conveyor 1 fluctuates by a maximum of about 0.9 m/39-m j,n per 0.1 second as described above, but
As mentioned above, since it is scanned by the 2.5 MHz clock signal cp (one scanning time is 819.2 μsec), it can sufficiently cope with fluctuations of this degree. However, 2.
If a CCD image sensor is used, if the sensor is continuously scanned using a 5MHz clock signal cp, there is a risk that sufficient charge accumulation will not be achieved. Then you need to repeat the next scan. In this case, the update time of the data 8I will be, for example, 2 m5 ec, which is still sufficient to cope with the above-mentioned fluctuations.

In this way, the following controller 2 and the following position detector 1
4, the movable base 10 is moved to the edge 2a of the door 2.
If the flow of the door 2 is accurately followed from the time when the movable base 10 reaches the aforementioned reference point, the robot control device 26, which has received the robot operation start command SS1 output at 5TEP6 in FIG. -H robot 12 at a predetermined timing.

The above-mentioned inclination data 40 of the seating posture calculation unit 25
= −9 [δ] and the scratch amount data [β] By correcting the teach data and blueback,
The filler pump 27 in FIG. 1 pumps the filler through a hose (not shown) through the seal link can 11 attached to the tip of the robots 1 to 12, or at the door 2 where the filler flows in the I'lY axis direction. Can be sprayed precisely on the area.

In addition, as shown in FIG. 2, if the door hanger 3 is lifted by an angle of 0 by the rear roller 4,
In addition to suppressing fluctuations in the X and Z axis directions, the sealing work by the robot 12 becomes easier.

Next, returning to FIG. 8, the robot 12 completes the sealing work of the door 2 flowing through the sealing work stage, and
When the robot control device 26 outputs a work completion signal SE to the microcomputer 28 of the follow-up control unit 24,
The CPU 28a advances the process from 5TEP7 to 5TEP8, outputs a follow-up control stop command ST to the follow-up controller 2nd, and outputs a detection stop command Sr to the drive detection circuit 31 of the follow-up position detector 14.

As a result, the FF 49 in FIG. 5 is reset via the OR circuit 50 and the analog switch 45 is turned off, so the addition signal SF is cut off, the motor 8 stops, and the movable base 10 also stops.

Further, since the FF 58 is also reset and the AND circuit is closed, the new count value Nx is no longer latched by the latch circuit 62.

However, if the follow-up control stop command ST is not output for some reason, the movable base 10 will continue to travel (or if it overruns to a certain extent, the runaway detection limit switch 33 (Fig. 3) will turn on and issue a runaway signal. Output EM.

Then, by this runaway signal EM, the FF 49 is set to jl, the movement of the movable base 10 is stopped, and the FF
51 is set. Note that when the FF 51 is activated, the movable base 10 returns toward the origin as described later.

Further, when the runaway signal EM is output, for example, an abnormality indicator (not shown) may be activated to notify maintenance personnel of the abnormality, and further work may be temporarily halted.

Returning to FIG. 8, after completing the process at 5TEP 8, the CPU 28a proceeds to 5TEP 9, outputs the movable base return command SR to the tracking controller 29, and then proceeds to 5TEP]0 to return to the origin. Waits for signal So to be input.

When the movable base return command SR is input to the follow-up controller 29, the FF 51 in FIG. 5 is set via the OR circuit 52, the return circuit 53 is activated, and the analog switch 54 is turned on.

As a result, the return signal SR output from the return circuit 53 is input to the amplifier 46, so that
The motor 8 begins to rotate to return the movable base 10 to its origin.

Note that while the movable base 10 is returning, the robots 1 and 12 return to the work origin.

Then, when the movable base 10 returns to the origin and the origin detection limit switch 32 shown in FIG. Ru.

When the origin signal So is input to the tracking controller 1-roller 2B, the FF 51 in FIG. 5 is reset and the return circuit 53
At the same time, the analog switch 54 is turned off, so the motor 8 stops and the possible Dtl+ base 10 also stops.

Furthermore, when the origin signal So is input to the microcomputer 28, the CPU 28a advances the processing from 5TEPIO to 5TEPII in FIG.
Check whether the all work completion signal SEE is inputted from 6 and 5TEI if the all work completion signal SEE is not input manually) Return to 2 and return to 5TEP3 on the condition that the robot 12 has returned to the work origin. Wait until the tracking start timing signal Sc is input again, and if the all work completion signal SEE is input, proceed to 5TEP1.2 and apply a clock stop to the 9 movement detection circuit 31 of the tracking position detector 14. After outputting a clock start/stop command SS and outputting a lighting/lighting out command SL indicating turning off the spot light source 15 as shown in Table 44, all processing is terminated.

In this way, the sealing operation can be repeatedly performed by piercing the door 2 flowing to the sealing operation stage, provided that the full-strut signal SEE is not inputted from the robot control device 26.

Hereinafter, examples of modifications of the embodiment described in "-" will be listed.

(a) Substrate (-Not only may the light source 15 be a slit light source, the slit light source 19.2' may be a spot light source, or all light sources may be a laser light source.

(b) A scale or seating position detector 1 that can change the detection specification of the follow-up position detector 14 from a reflective type to a transmissive type.
It is also possible to change the detection specification of 8.22 from a transmission type to a reflection type. However, when changing the detection specification of the tracking position detector 14 to a transmission type, light (slit I/
It is necessary to move the light source that irradiates (light or spot light) in synchronization with the flow of the conveyor 1, or to use a light source with a wide irradiation range.

(c) As the follow-up position detector, a contact type detector can also be used in addition to a non-contact type detector. For example, a linear potentiometer may be attached along the follow-up unit 6, and its detection movable portion may be moved over a certain distance by a dog provided on the door hanger 3 side.

(d) As a follow-up point on the power and free conversion hair 1 side, in addition to the edge 2a of the door 2, a hole in the door 2, a two-step notch, etc., or the side edge of the door hanger, etc. can be detected with a line image sensor. Any feature point may be used.

(e) In the embodiment described above, an example was described in which the reference speed signal Sv was generated by the tacho generator 34 driven by the conveyor 1. However, for example, the set speed of the conveyor 1 formed by a constant voltage circuit You may use a signal according to the

(v) The reference point on the movable base 10 side is preferably the center position of the line image sensor 30, but is not limited to this, and the comparison reference value of the comparison circuit 60 in FIG.
It does not have to be 400 HJ (1,024).

This is because when the conveyance speed of conveyor 1 is high, r40
This is because it is better to advance the tracking start timing by using a value smaller than 0 HJ, such as "r200H."

Next, countermeasures against meandering and waviness fluctuations in the X and Z axis directions when the back roller 4 shown in FIG. 1 is omitted will be briefly explained.

First, the following measures are taken against meandering fluctuations in the X-axis direction.

That is, as shown in FIG. 13, on the movable base 10,
X with respect to the movable base 10 by the driving force of the motor 7o
An auxiliary follow-up shaft 71 that moves in the l and X2 directions is mounted, and this auxiliary follow-up shaft 7114:.

Bots 1 to 12, follow-up position detector 14 and spot light source 1
Attach 5.

147= In addition, a light source 73 is connected to the spoiler 1 at the tip of a mounting plate 72 which precedes the flow of the door 2 from this auxiliary follow-up shaft 71 and extends to a position where the door 2 hangs vertically.

A displacement detector 74 using a line image sensor (the line image sensor is arranged in the X-axis direction) receives reflected light from near the inner edge 2b of 1A2, for example, from near the inner edge 2bA. establish.

Then, the following unit 1-6 is controlled in the same manner as in the previous embodiment, and the motor 70 of the auxiliary following shaft 71 is controlled based on the detection result of the displacement detector 74 that receives the reflected light from the inner edge 2b of the door 2. , the rotation is controlled so that the relative positional deviation in the X-axis direction between the predetermined reference point of the line image sensor and the inner edge 2b of the door 2 becomes zero.

In this way, it is possible to eliminate work errors due to meandering fluctuations in the X-axis direction of the door bunker 3 flowing in the Y-axis direction.

Next, the following measures are taken against waviness fluctuations in the Z-axis direction.

That is, as shown in FIG. 14, an image sensor camera 75 using a line image sensor is installed at the tip of the robot 48-12. A bracket 77 on which a spot light source 76 and a ceiling can 11 are mounted in the arrangement shown in the figure.
A wrist correction shaft 79 that can be moved in the direction of arrow FI+F2 by the driving force of a motor 78 is attached.

However, the arrangement direction of the line image sensor in the image sensor camera 75 is the same as the moving direction of the bracket 77, and the direction of the sea link work by the robot 12 and the moving direction of the bracket 77 are always perpendicular to each other. .

By driving and controlling the wrist correction axis 7 motor 78 independently of the control of the robot 12 as follows, it is possible to eliminate work errors due to waviness fluctuations in the Z-axis direction.

That is, the image sensor camera 75 images the shadow SH formed on the stepped portion of the sealing portion of the door 2 by the spotlight from the spot light source 76, and the imaging position of the shadow SH is determined as a reference position on the sensor determined in advance. Determine the deviation of , and move the fracket 77 in the direction of arrow F until the calculated deviation becomes zero.
The rotation of the motor 78 is controlled to move in the 1 or F2 direction.

In this way, even if the first wheel 2 undulates in two axial directions, as long as the reference position is properly determined, the position of the filler sprayed by the sealing can 11 will accurately follow the sealing line.

Note that the wrist posture shown in FIG. 14 is a posture when the tip of the robot 12 moves in a direction perpendicular to the drawing.

In addition, if such a wrist correction axis is set for one day, even if the teaching of robots 1-12 is done somewhat roughly,
It becomes possible to absorb operational errors caused by this.

Furthermore, instead of the wrist correction axis 7B, an auxiliary follow-up axis capable of correction operation in the X-axis direction is prepared, and the auxiliary follow-up axis is stacked on the ``-'' of the above-mentioned auxiliary follow-up axis 71 for the X-axis direction. By placing the robot 12 on top of this,
It is also possible to cope with waviness fluctuations in the axial direction.

Finally, with reference to FIG. 15, another work line to which the present invention is applied will be briefly explained.

This work line is a line for assembling the rear combination lamp 82 to the vehicle body 81 flowing in the Y-axis direction on the slat conveyor 80''.

The sitting position of the vehicle body 81 on the slat 80a can be determined by, for example, a sitting position detector 84,85 in the X-axis direction attached to a bar 83 hanging from the ceiling (not shown), a sitting position detector 86 in the Y-axis direction, and a sitting position detector 86 installed on the floor. Based on the positions of the three edge parts around the trunk and the position of the edge part on the upper part of the rear wheel house, respectively detected by the sitting position detector 87 in the X-axis direction, the sitting position is calculated by the sitting position calculation unit 1-88. The calculation results are transferred to the robot I-control device 8B and used for correcting the teach data. Note that each of the detectors 84 to 87 is equipped with a light source.

Follow-up position detector 91 equipped with robot SO and light source
The movable base 93 of the follow-up unit S2 on which the follow-up unit S2 is mounted is located between the center position (reference point) of the line image sensor in the follow-up position detector S1 and the =51-rear wheel house side &1la (follow-up point) of the vehicle body 81. The vehicle follows the vehicle body 81 so that the relative positional deviation in the axial direction is zero.

The traveling control of this movable base 9B is performed by controlling the rotation of the motor S4 that drives it by a follow-up control unit 95 in the same manner as in the previous embodiment.

Then, while the movable base 93 is stopped at the origin, the robot 1 90 grips the rear combination lamp 82 conveyed from a conveyor (not shown) with a mechanical hand 96 of a vacuum suction type, and A predetermined portion of the lamp 82 is coated with, for example, butyl rubber, and the rear combination lamp 82 is assembled to the vehicle body 81 from the time tracking is started.

In this way, even if the conveyance speed of the slat conveyor 80 fluctuates, the rear combination lamp 82 can be assembled to the vehicle body 81 without failure through the illustrated work process.

52- The work process indicated by arrow 11 is Mechanical Hunt S
The roller 96a, which is the opening to be removed at step 6, is rolled while pressing against the fitted rear combination lamp 82 to improve fitting and adhesion.

Further, the activation timing of the follow-up position detector 91 in FIG. 15 is the time when, for example, a space in the rear wheel house of the vehicle body 80 passes through the place where the follow-up position detector 91 is located when the movable base 93 is returning to the origin. At this point, it is assumed that activation is performed by, for example, an on signal from a limit switch that is turned on by hitting a predetermined part of the vehicle body 80.

Specifically, when the drive detection circuit in this follow-up position detector 91 is constructed in the same manner as the drive detection circuit 31 in FIG. The 1'' output of this AND circuit is used as the follow-up start timing signal Sc, and the output is input to the OR circuit 63.

Furthermore, the car body 81 conveyed by this slat conveyor 80 also meanders in the X-axis direction and undulates in the Z-axis direction. Either provide auxiliary follow-up axes for the X and Z-axis directions as described above between the follow-up position detector 91, or install a remote deflection centering device (RCC) between the tip of the robot SO and the mechanical hand 96. It is better to intervene with an adaptation mechanism.

In the above embodiment, the work performed by the robot was specifically explained, but the work can also be done by placing a special machine such as an automatic screw tightener or an automatic welding machine on a movable base and making the special machine follow the workpiece. You can also have them do this.

Effects - As explained above, according to the present invention, conveyor transport between a predetermined follow-up point on the conveyor side and a predetermined reference point on the movable base side on which an automatic working machine such as a robot is mounted. The movable base sequentially detects the relative position deviation in the direction and controls the travel of the movable base so that the detected relative position deviation becomes zero, making the movable base follow the conveyor, making it suitable for all automatic working machines. Not only can it be applied to equipment, but work can be automated with almost no modifications to existing equipment, and the control required to follow it does not have to be complicated.

[Brief explanation of drawings]

1 is a perspective view of the line sealing work stage and its surroundings to which the tracking method according to the present invention is applied; FIG. 2 is a diagram for explaining the operation of the back roller 4 in FIG. 1; A block diagram of the control system shown in the figure. 4 is a sectional view showing a driving mode of the tachogenerator '54 shown in FIG. 3; FIG. 5 is a block diagram showing a specific configuration example of the follow-up controller 2 and the drive detection circuit 61 shown in FIG. 3; FIG. 6 is a block diagram showing a specific configuration example of the drive detection circuit 38, 39 in FIG. 3, and FIG.
FIG. 8 is a process flow diagram showing a program executed by the CPU 28a of the microcomputer 28 in the follow-up control unit 24 of FIG. 3; FIG. CP of attitude calculation unit 25
A process flow diagram showing a block diagram executed by the U 25 a, FIG. 10 is a diagram for explaining the operation of the tracking position detector 14, and FIG. 11 shows different examples of binary video data Dvl for one scan. A waveform diagram, FIG. 12 is a diagram for explaining the operation of the processing flow diagram in FIG. 9, and FIG. 16 is a configuration showing an example of a device for dealing with meandering fluctuations in the X-axis direction of the power and free conveyor 1. Fig. 14 is a configuration diagram showing an example of a device for dealing with undulation fluctuations in the Z-axis direction of the power and free conveyor 1, and Fig. 15 shows other work to which the tracking method according to the present invention is applied. FIG. 3 is a perspective configuration diagram showing the line together with the work process. 1... Power and free conversion hair 2... Door 2a... Edge (following point) 3... Door hanger 4... Back roller 6. S2...Following unit 7.
34... Tacho generator 8.70, 78.94... Motor 10.93... Movable base 11... Sea link gun 12,90... Robot 1
4.87...Following position detector 15...Spot light source 18.22.84-87・Seating posture detector IS, 23・
... Slit light source 24.95 ... Follow-up control unit 25.88 ... Seating posture calculation unit 26.89 ...
・Robot control unit 2nd...Following controller 30.3Ei, 37...Line image sensor 31.
38.39・Drive detection circuit 32...Limit switch for origin detection 33...Limit switch 1-switch for runaway detection 71...Auxiliary follow-up axis 7th...Wrist correction axis 80...Slat conveyor 81・...Vehicle body 82...Rear combination lamp 96...Mechanical hand applicant Nissan Motor Co., Ltd. agent Patent attorney Kei Inuzawa = 59- JP-A Sho GO-221230 (20) JP-A Sho GO-221230 (22) Procedural amendment (1st part) July 27, 1980 Patent Office, Director General Manabu Shiga■, Indication of the case Patent Application No. 1983-77846 2, Method for following the name of the invention 3, Relationship between the person making the amendment and the case Patent applicant: 2 Takaracho, Kanayō-ku, Yokohama-shi, Kanagawa Prefecture (399) Nissan Motor Co., Ltd. 4, Agent: 5-5, 1-20 Higashiikebukuro, Toshima-ku, Tokyo・ (1) Claims column 1 of the specification. (2) Detailed explanation of the invention column 6 of the specification, contents of amendment (1) Claims of the specification The scope has been amended as shown in the attached sheet. (2) In each of the following passages in the same book, "sequential" has been changed to "r sequential".
I am corrected. Page 5, line 8, page 19, line 5, page 24, line 8, page 28, line 8, page 38, line 8, page 55, line 19 (3) "Runaway prevention" in the same book, page 12, line 16. switch 33 to limit 1” to “runaway detection limit switch 33”
and correct it. (4) [Analog switch 46] on page 16, line 14 of the same book.
] is corrected to ``Analog switch 45.!l.'' (5) ``Power 1~Andfree ml conveyor 1'' in the 5th line of page 25 of the same book is corrected to 1 power Ant free conveyor 1J. (6) “Power-free conveyor 1” on page 27, line 8 of the same book.
" is corrected to "Power and Free Conveyor 1.11." (7) rsTEP 16 J on page 33, line 18 of the same book is corrected to [i'5TEP2-17." (8) rSTEP 17 J in the same page, line 19 of the same book [i
'5TEP18. ! Correct it to 1. (9) Correct "Work completion signal 5EEJ" on page 46, line 6 of the same book to "Work completion signal SEE". (10) "Wrist correction axis 19" on page 51, line 11 of the same book
Correct it with "G wrist correction axis 7S". (Attachment) Claim 1: Relative relationship in the conveyance direction of the conveyor between a predetermined follow-up point on the conveyor side and a predetermined reference point on the movable base side on which an automatic working machine device such as a robot is mounted. The movable base may follow the conveyor by controlling the travel of the movable base so that the detected relative position deviation becomes zero while detecting the positional deviation on the movable base side. Follow method.

Claims (1)

[Claims] 1. The relative positional deviation in the transport direction of the conveyor between a predetermined follow-up point on the conveyor side and a predetermined reference point on the movable base side on which an automatic working machine such as a robot is mounted is measured on the movable base side. A tracking method characterized in that after sequential detection, traveling of the movable base is controlled so that the detected relative position deviation becomes zero, and the movable base follows the conveyor.