JP2000094375A - Method for stacking block by mobile manipulator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method for stacking blocks, capable of accurately stacking blocks while moving a root manipulator and while correcting errors generated in the movement, in work for stacking concrete blocks for a fence by using a robot. SOLUTION: A manipulator is provided with a movable truck 1, an arm 2 mounted on the truck 1, and a holding device 3 for holding a block 7, and a camera on the arm tip. A landmark is provided on the upper surface of the block 7, the manipulator holds the block 7 while being moved. When the position is deviated the deviation of the landmark picked up by the camera is detected, and the block 7 is correctly stacked while correcting the movement of the arm 2.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of stacking blocks by using a moving manipulator that works while moving. Here, the block is interpreted in a broad sense without being limited to the concrete block constituting the fence, and means a box-shaped three-dimensional object.

[0002]

2. Description of the Related Art At present, most of industrial robot manipulators put into practical use are fixed-ground-type manipulators, and since they have a limited operation range, they can only work within a certain area. In general, a manipulator needs a moving mechanism to perform work in a wide range, and by providing this moving device, a wide variety of works can be performed.

[0003] One of the severe tasks in which young labor tends to be short in recent years is the work of masonry of blocks constituting a fence. In many cases, inferior elderly people are engaged in work, and the physical burden is large. Therefore, it would be very meaningful if such an operation could be performed in block building using a robot manipulator.

[0004] Since masonry of blocks is generally performed in a wide range, a manipulator always needs a moving function. Therefore, even when the manipulator moves and its position changes, it must be controlled so that predetermined blocks can be stacked at a predetermined position.

[0005]

As described above, the conventional ground-fixed type manipulator cannot perform the masonry work of the blocks constituting the wall. The problem to be solved by the present invention is this problem, and provides a method of stacking blocks by a movable manipulator that can sequentially stack predetermined blocks while moving.

[0006]

The manipulator stacks individual blocks at predetermined positions while moving along a wall to be stacked. The manipulator includes a moving device, an arm, and a gripping device. , And a position control device. The moving device is a kind of trolley, which has wheels and can be moved by a drive device such as a motor, and the arm is composed of a plurality of links, a gripping device is attached to the tip, and a block mounted on the trolley. And can be stacked at a predetermined position. Then, the position control device knows a deviation from a predetermined position by a camera provided in the gripping device, and adjusts the movement of the arm.

In order for the manipulator to perform the work of stacking blocks, the most important point is to control so that another block can be accurately stacked on a block already stacked. If the manipulator moves correctly and there is no movement error, the blocks grasped by the predetermined movement of the arm can be correctly stacked at the predetermined position. However, it is impossible to move without such an error, and since moving on uneven ground regardless of the degree, a movement error generally occurs, and this movement error is caused by the movement of the arm by the position control device. Will be corrected.

By the way, a mark (landmark) can be provided at a predetermined position on the upper surface of the block, and the mark can be captured by a camera to detect a positional shift. The landmarks projected on the camera are the marks on the already stacked blocks.
In addition, by detecting the positional shift in the Z direction, the distance corresponding to the positional shift is corrected by the movement of the arm, and the block that is being gripped when the landmarks projected on the camera are accurately matched is used. Stacked up. The landmark may be provided at another position instead of the top surface of the block. Hereinafter, embodiments according to the present invention will be described in detail with reference to the drawings.

[0009]

FIG. 1 shows an embodiment showing a movable manipulator, which comprises a carriage 1, which is a moving device, an arm 2, a gripping device 3, and a camera 4. The cart 1 has wheels 5, 5 ...
Is mounted and can be moved by a motor mounted thereon, and the motor controls the moving distance of the bogie by controlling the number of rotations. The wheels are not limited to wheels equipped with rubber tires that can directly roll on the ground, but may be metal wheels running on laid rails. If a rail is laid, the trolley moving on the rail can move relatively accurately, and if the rail is horizontal and parallel to the wall to be constructed, even if the moving distance is accurate. There is no displacement of the cart.

The present invention is configured so that blocks can be assembled without correcting the positional deviation at that time without laying the rail, that is, on the premise that the bogie moves directly on the ground. Arm 2 has multiple links 6
a, 6b... are connected to each other, and the individual links 6a, 6b
By bending b ..., the arm 2 can be directed in any direction. The arm 2 is mounted on a cart 1, and the gripping device 3 is attached to a tip thereof.

Although the specific structure of the gripping device is not limited,
Blocks such as concrete are very heavy and must be structured so that they do not slide down when gripped. The blocks to be stacked are placed on the cart 1, and the blocks at predetermined positions can be gripped and lifted, and the blocks can be released at predetermined positions while the arm 2 is being moved, and can be stacked. Of course, in the actual work of stacking blocks, it is necessary not only to stack the blocks but also to perform a work of pouring concrete and connecting them together, and this operation is manually performed in parallel with the stacking of the blocks.

By the way, the manipulator stacks the blocks while moving. If a displacement occurs during the movement, the movement of the arm 2 is adjusted so that the blocks are stacked correctly. ing. Therefore, a camera 4 is attached to the tip of the arm 2 to determine whether or not the carriage 1 has moved correctly, and if the carriage 1 has shifted and moved, the arm 2 corrects the error.

FIG. 2 shows a case where the blocks 7a, 7b... Are assembled, and the blocks 7a to 7c are already assembled correctly. The block 7d is gripped by the gripping device 3, and the block 7d is correctly arranged. Is controlled as follows. FIG.
In FIG. 5, landmarks (X) are formed at predetermined positions on the upper surface of the block, and the blocks 7d are stacked based on the landmarks (X). The camera 4 attached to the tip of the arm projects the landmark (X), and the position of the carriage 1 after the carriage 1 has moved a certain distance is indicated by the camera 4.
Is determined based on the position of the landmark (X) projected on the image.

For example, the landmark (X) of the block 7b is projected to the correct position by the camera 4, and the blocks 7c are stacked, and the block 7d is a truck based on the landmark (X) of the block 7c stacked immediately before. 1 is detected. That is, when the carriage 1 does not move correctly, the landmark (X) projected on the camera 4 is displaced, and the amount of this displacement is fed back to adjust the movement of the arm 2.

Here, the landmark is not limited to the X mark as shown in the figure, but the mark mark is of a shape that allows the position and direction deviation to be known because the direction deviation of the bogie is not known from the circle mark. It is necessary. Furthermore, X-shaped landmarks are not sufficient to know the vertical position shift and its inclination. The landmark (X) used as a reference for knowing the positional deviation of the cart 1 does not need to be the previous block, and the landmark described on the lower block to be stacked can be used. is there.

However, the present invention is not limited because there are various methods for adjusting the movement of the arm 2 by detecting the positional deviation of the landmark (X) projected on the camera 4. or,
It is convenient to attach a camera to the end of the arm because the height of the blocks to be stacked is gradually increased, but it is also possible to arrange the camera by providing another supporting portion that can be adjusted in height from the cart. As described above, the block stacking method of the present invention is performed using a movable manipulator, and the following effects can be obtained.

[0017]

The method of stacking blocks according to the present invention is performed by using a movable manipulator, and it is not necessary for an operator to stack heavy blocks by hand. It will be easier. The operator only has to work with the manipulator to pour concrete for connecting the blocks to be stacked. This manipulator can be moved when stacking the individual blocks, and if a displacement occurs during the movement, the amount of the displacement is detected by a camera provided at the tip of the arm, and the arm is detected. It is possible to correct the movement by the movement of and always pile the blocks correctly.

[Brief description of the drawings]

FIG. 1 is a schematic diagram of a movable manipulator.

FIG. 2 is an operation of stacking blocks.

[Explanation of symbols]

 1 cart 2 arm 3 gripping device 4 camera 5 wheel 6 link 7 block

Claims (1)

[Claims] In a method of stacking blocks while the manipulator moves to a predetermined position, the manipulator includes a movable cart, an arm mounted on the cart, and a grip for gripping the block at the tip of the arm. A device and a camera are provided, and landmarks are provided on the upper surface of the block to be stacked or other appropriate places, and if the moved manipulator is misaligned, the amount of misalignment of the landmark reflected on the camera is detected. A method of stacking blocks by a movable manipulator, wherein the blocks are always stacked correctly by correcting the movement of the arm.