JP2000143175A - Moving device and its control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an easily operatable moving device capable of easily installing and dismantling and having high cost performance, and its control method. SOLUTION: A moving device is composed of a plurality of driving units 2 respectively fixed on the positions separated from one another for delivering and winding a wire 5, and a control part for controlling the operation of the driving units 2, and a process for moving the driving units 2 to be close to a target position T after the present positions of a plurality of driving units 2 are detected by a position detecting means, and then detecting the present positions of the driving units 2 after the movement by the position detecting means, and a process for moving the driving units 2 from the present positions after the movement to be close to the target position T are successively repeated by the time when the driving units reach the target position.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a moving apparatus suitable for use in moving an article or the like in a three-dimensional space and a control method thereof.

[0002]

2. Description of the Related Art As is well known, for example, at a construction site or the like, as a means for moving various devices, materials, personnel, etc. to an arbitrary position in a three-dimensional space, various means such as a gondola and a mobile work vehicle are used. A moving device is used.

[0003]

However, the conventional mobile devices as described above have the following problems. First, since the driving system and the entire device of each of the various moving devices are all large-scale, installation and removal operations are troublesome. In addition, in order to install the moving device, for example, operations such as anchoring and leveling are required, which also takes time. Further, since the capacity of the moving device is set based on the maximum size or weight of the materials to be moved, the surplus capacity is required when moving other small or lightweight materials. Therefore, there is a problem that cost performance is lowered. In addition, there is a problem that the operation of each of the moving devices is special and requires familiarity with the operation and requires additional personnel such as a specialized operator. The present invention has been made in consideration of the above points, and has as its object to provide a mobile device that can be easily installed and removed, has high cost performance, and is easy to operate, and a control method thereof. .

[0004]

The invention according to claim 1 is
A plurality of drive units for driving the wire so as to be able to be fed and wound freely are connected to each other and the drive units are provided by fixing the distal ends of the wires of the drive units at positions separated from each other, and further, It is characterized by comprising a position detecting means for detecting a position of the drive unit, and a control means for controlling the operation of feeding and winding the wire of each drive unit.

Thus, when the wire of each drive unit is fed and wound under the control of the control means, the connecting portion between the drive units moves in a three-dimensional space.

[0006] The invention according to claim 2 is for feeding the wire.
A plurality of drive units that can be driven to be wound up are connected to each other, and the wires are fixed at positions separated from each other. Is a control method of a moving device, which is configured to be controlled, wherein after detecting initial positions of the plurality of drive units by position detection means, the drive unit approaches the target position, A step of moving the drive units by feeding or winding the wire in each of the drive units by the control means, and a step of detecting the current position after the drive units are moved by the position detection means; Are sequentially repeated until the drive unit reaches the target position.

Thus, the step of detecting the position of the connecting portion by the position detecting means, and the step of controlling each drive unit by the control means to perform the wire feeding and winding operation so that the connecting portion approaches the target position. Is repeated, the connecting portion of the drive unit can be gradually approached to the target position in the three-dimensional space.

According to a third aspect of the present invention, in the control method of the moving device according to the second aspect, when the driving unit is moved, the driving unit is moved by feeding or winding the wire. After the movement of the drive unit, the estimated position is compared with the current position after the movement, and the result of the comparison is reflected in the next and subsequent movements. .

Thus, the moving device has a learning function, and as the number of operations increases, the moving accuracy toward the target position increases.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a moving apparatus and a control method thereof according to the present invention will be described with reference to FIGS.
This will be described with reference to FIG. Here, the moving device and the control method thereof according to the present invention will be described using an example of a case where the moving device and the control method are used as a transport device for transporting materials and the like.

FIG. 1 schematically shows a moving apparatus, in which reference numeral 1 denotes a moving apparatus, 2 denotes a plurality of drive units constituting the moving apparatus, and 3 denotes a plurality of drive units 2, 2,. Are connected parts which are connected to each other, and 4 indicates a suspended load suspended from the connected part.

As shown in FIGS. 1 and 2, each drive unit 2 drives a wire 5 so that the wire 5 can be drawn out and wound up from a unit body 2a. A fixing member 6 such as a tool is provided. As shown in FIG. 1, these drive units 2 are connected to each other by a connection portion 3, and are set at support points 7, 7,, which are set at dispersed positions (positions separated from each other) in a three-dimensional space. Are arranged by fixing a fixing member 6 at the distal end of the wire 5. As a result, when the wire 5 is fed and wound by each drive unit 2, the drive unit 2 itself moves toward and away from the support point 7, and as a result, the connecting portion 3 between the drive units 2 becomes three-dimensional. You will move in space.

Each drive unit 2 is provided with position detecting means (not shown) for detecting a relative position with respect to a beacon or the like set at an arbitrary position. This position detecting means can detect the angle (azimuth angle and elevation angle) and the distance of each drive unit 2 with respect to the beacon or the like based on information from a beacon or the like that emits a radio wave.
The load acting on the wire 5 at that time can be detected. A beacon or the like serving as a target for detecting a position may be set at an arbitrary position or may be set at a target position to be moved. If a beacon or the like is installed at the target position, control of the mobile device 1 becomes easier.

The moving device 1 having such a configuration includes a control unit (not shown) for controlling the feeding and winding operations of the wire 5 in the unit main body 2a of each drive unit 2 through various communication means such as a remote control. ) Is provided. The control unit (not shown) drives the wire 5 of each drive unit 2 to extend and retract the wire 5 so that the load 4 suspended by the connecting unit 3 moves in the three-dimensional space. It is supposed to. At this time, the moving range of the connecting portion 3 is below the line L connecting the supporting points 7, 7 adjacent to each other, and in a space surrounded by a vertical plane including the line L.

Next, a control method in a control unit (not shown) of the mobile device 1 having the above configuration will be described.
A method of actually moving the suspended load 4 will be described. In the following description, an example in which the moving device 1 is configured by three driving units 2 will be used. First, as shown in FIG. 3 (a), a predetermined number of drive units 2 are connected to each other by a connection part 3, and at arbitrary support points 7, 7,. The distal end of the wire 5 of each drive unit 2 is fixed with a fixing member 6 (see FIG. 2).

Next, as shown in FIG. 3B, a beacon or the like placed at an arbitrary position is set as an origin, and the angle (azimuth and elevation) of each drive unit 2 with respect to the beacon or the like is determined by a signal from the beacon or the like. And the distance, and the load on the wire 5 are detected, and based on the information, the support point 7 of each drive unit 2 and the position of the drive unit 2 itself (hereinafter, referred to as
This is referred to as “initial position”).

Next, the connecting portion 3 is moved toward the target position T to be moved. For this, when the connecting unit 3 is moved from the initial position toward the arrival target position T, the operation of each drive unit 2 is set each time while detecting the position of the connecting unit 3 at predetermined time intervals. To do. That is, the movement of the connecting portion 3 is divided into a plurality of steps, and the movement direction is determined for each of the divisions.

First, in the first step, when starting to move the connecting portion 3, the driving units 2A, 2B, 2
C, a predetermined set time (for example, 3 seconds to
The length of the wire 5 to be fed out or taken up for 5 seconds) is determined in advance by a control unit (not shown). Then, the drive units 2A, 2B, 2C by the determined length
The position of the connected portion 3 after movement at the time when the wire 5 is fed or wound, that is, when the set time has elapsed, is estimated based on the initial position.

Thereafter, the moving operation of the connecting portion 3 is actually started, which is performed by sequentially moving the connecting unit 3 from the driving unit 2A which is determined to be closest to the target position T among the driving units 2. The drive units 2B and 2C to be determined are operated in a predetermined order. First, in the drive unit 2A, the wire 5 is wound up by a predetermined length. Then, the drive unit 2B rises, and the drive unit 2B determines this by detecting the position with respect to the beacon or the like, and extends the wire 5 by a predetermined length. And the drive unit 2C
In, the positions of the driving units 2A and 2B after driving are detected, and based on this, the wire 5 is extended for a predetermined length, and
Or take up.

After the set time has elapsed, the current position information is obtained from the angle and distance of each drive unit 2 with respect to the beacon and the like. Then, the estimated position of the support point 7 of each drive unit 2 is re-estimated to correct the information (generation of the position of the support point 7). Further, the current position is compared with the position estimated before the movement, and the distance between the two is evaluated as “fitness”. Here, it is evaluated that the shorter the shift distance is, the higher the fitness is (calculation of the fitness).

The fitness and the amount of wire 5 in and out of each drive unit 2 up to now are compared, and the set time of the next step, the operation order of the drive unit 2, the direction of wire 5 in and out of the drive unit 2 that starts moving first, and Determine the quantity (creation of action plan). For example, in the state shown in FIG. 3B, since the connecting portion 3 is located above the arrival target position T, the operation order of the drive unit 2 may be the same as that at the time of the previous movement. Need to be lowered almost vertically, the wires 5 in all drive units 2
Should be paid out. Such a determination is made by a control unit (not shown). Further, as the vehicle approaches the target position T, the set time per step is set to be gradually shorter.

Thereafter, in the same manner as above, 1) estimation of the position at the time when the set time of the step has elapsed, 2) operation of each drive unit 2 based on the determined order, 3) support point 7 Correction of the estimated position (generation change by generation of the position of the support point 7), 4) evaluation of fitness by comparing the position at the time when the operation of all the drive units 2 is completed with the position estimated in 1), 5) The action plan of the drive unit 2 in the next step is prepared for each step, and the connecting portion 3 is moved to the target position T. FIG. 4 is a flowchart showing control contents in a control unit (not shown) for performing the above contents.

The above steps are repeated a plurality of times, and the movement is completed when the connecting portion 3 reaches the target position T as shown in FIG. 3 (c).

In the moving device 1 and its control method described above, the wires 5 of each drive unit 2 are controlled by the control unit.
The connecting portion 3 moves within the three-dimensional section by feeding and winding the, so that the hanging load 4 can be moved by suspending the hanging load 4 or the like on the connecting portion 3. ing. Such a moving device 1 includes a wire 5
Since the distal end of the wire 5 is fixed by the fixing member 6, the driving unit 2 itself is configured to move. Such a moving device 2 may be installed as long as the support point 7 of the wire 5 can be secured. No large-scale setup is required for installation and removal. In addition, by changing the support point 7, it is possible to easily change the moving range, and the configuration is extremely expandable. In addition, since the mobile device 1 is of a hanging type, it does not hinder the use of the space below. In addition, since the mobile device 1 has a simple configuration, the mobile device 1 is extremely excellent in cost performance.

After detecting the current positions of the plurality of driving units 2 by the position detecting means, the moving device 1 moves the driving unit 2 so as to approach the target position T. The step of detecting the current position of the drive unit 2 by the position detection means and the step of moving the drive unit 2 from the moved current position to approach the target position T are sequentially repeated until the target position T is reached. It is configured to go. Accordingly, the suspended load 4 can be reliably moved to the arrival target position T, and it is not necessary to accurately set the positions of the support points 7 and the like at the initial stage when the moving device 1 is installed. Therefore, the convenience of the mobile device 1 can be made very high.

In addition, the position reached by the drive unit 2 is estimated, and after the movement of the drive unit 2, the estimated position is compared with the current position after the movement, and the result of the comparison is evaluated. Are sequentially generated again, so that the positions are reflected when moving after the next step. Accordingly, the moving device 1 has a learning function using a genetic algorithm, and the moving accuracy is increased each time the number of operations increases, so that the driving unit 2 can be operated efficiently. Moreover, even after the installation position of the mobile device 1 is changed, there is no need to make initial settings or program corrections each time, so that the convenience can be further improved and the operation is very easy. Becomes

In the above embodiment, the number of drive units 2 constituting the moving device 1 is not intended to be limited to three or five as described above, and may be any other number. good. By changing the number of drive units 2 to be installed, it is possible to cope with a space having any shape. In addition, by changing the number of the drive units 2, it is possible to flexibly cope with the weight of a moving article or the like, and a highly applicable moving apparatus can be configured.

The specific structure of the drive unit 2 is not particularly limited as long as the wire 5 can be driven to be fed and wound, and any structure may be employed.

Further, as for the control method of the moving device 1, a plurality of drive units 2 are connected, and each drive unit 2 is connected.
Any control method may be adopted as long as the connecting portion 3 can be moved in a state where the wire 5 is fixed. For example, if the connecting portion 3 is permanently installed at a specific location, the learning function is not provided. A configuration or the like is also possible. Other than this, there is no intention to limit the contents of the control for providing the learning function and the contents of the program for determining the operation order of the drive unit 2 and the like.

In addition, in the above-described embodiment, an example in which a beacon or the like is used as the position detecting means for detecting the position of the drive unit 2 has been described. Or at any other position. In addition, drive unit 2
Any position detecting means other than the beacon may be used as long as the position can be easily detected.

The moving device 1 having the above structure can be applied not only to the movement of the suspended load 4 but also to various other uses. For example, by providing a video camera or the like in the connecting portion 3, it is possible to perform an investigation of a space from a remote place, such as an investigation of damage to a building exterior. Of course, a gondola can be attached to the connecting portion 3 and a person can get in and perform various operations. In addition, various transport attachments may be attached to the connecting portion 3 and used for transporting materials and the like. In addition to this, if you move various goods etc. in three-dimensional space,
Any form may be used.

Other than this, any configuration may be adopted as long as it does not depart from the gist of the present invention, and it is needless to say that the above-described configurations may be selectively combined as appropriate. No.

[0033]

As described above, according to the moving device of the first aspect, a plurality of drive units for driving the wire so as to be able to pay out and take up the wire are connected to each other, and the position of the drive unit is determined. It is configured to include a position detecting means for detecting and a control means for controlling the operation of feeding and winding the wire. Thus, the article or the like can be moved in the three-dimensional space by the operation of feeding and winding the wire of each drive unit under the control of the control means. Moreover, since the drive unit itself moves, as long as a place for supporting the wire can be secured, the moving device can be installed, and the installation and removal thereof can be easily performed. By changing the number of drive units to be installed, it is possible to cope with a space having any shape. In addition, by changing the number of drive units, it is possible to flexibly cope with the weight of a moving article or the like, and a highly applicable moving apparatus can be configured.
Further, by changing the position of the support point, the number of drive units, and the like, it is possible to easily change the movement range, and the configuration is extremely expandable. In addition, since it is a hanging type moving device, it does not hinder the use of the space below. In addition, since the mobile device has a very simple configuration, the cost performance is also extremely excellent.

According to the control method of the moving device according to the second aspect, after the current positions of the plurality of drive units are detected by the position detecting means, the drive units approach each of the drive units so as to approach the target position. Moving the drive units by feeding or winding the wire and moving the drive units, and detecting the current position by moving the drive units with the position detection means until the target position is reached. It is configured to repeat sequentially. Thereby, the connecting portion of the drive unit can be moved in the three-dimensional space and gradually approached to the target position. With such a control method, there is no need to perform initial settings for accurately grasping the support points of each drive unit and the like at the initial stage when the moving device is installed, making the moving device extremely convenient. be able to.

According to the control method of the moving device of the third aspect, the position reached by the drive unit is estimated, and after the movement of the drive unit, the estimated position is compared with the current position after the movement. The configuration is such that the comparison result is reflected at the time of the next and subsequent movements. Accordingly, the moving device has a learning function, and as the number of operations increases, the moving accuracy increases, and the driving unit can operate efficiently. In addition, even after the installation position of the mobile device is changed, it is not necessary to perform the initial setting or the program correction each time, so that the convenience can be further improved and the operability is excellent. .

[Brief description of the drawings]

FIG. 1 is a perspective view showing an example of a moving device to which a moving device and a control method according to the present invention are applied.

FIG. 2 is a perspective view showing a drive unit constituting the moving device.

FIG. 3 is a process chart showing a moving method in the moving device.

FIG. 4 is a flowchart showing control contents when the mobile device moves.

[Explanation of symbols]

 Reference Signs List 1 moving device 2 drive unit 5 wire

Claims (3)

[Claims] A plurality of drive units for driving a wire so as to be able to be fed and wound freely connect the drive units to each other, and fix the distal ends of the wires of the respective drive units at positions separated from each other. And a position detecting means for detecting a position of the drive unit, and a control means for controlling an operation of feeding and winding the wire of each of the drive units. apparatus. 2. A plurality of drive units for driving a wire so that the wire can be fed and wound freely are connected to each other, and the wires are fixed at positions separated from each other. A method of controlling a moving device, wherein a feeding / rewinding operation of the wire is controlled, wherein after detecting initial positions of the plurality of drive units by position detection means, To approach the target position,
A step of moving the respective drive units by feeding or winding the wires in the respective drive units with the control means; and a step of detecting the current position after the movement of the drive units with the position detection means. And (c) are sequentially repeated until the drive unit reaches the target position. 3. The control method for a moving device according to claim 2, wherein when the drive unit is moved, the position at which the drive unit reaches after moving is driven by feeding or winding the wire. Estimate,
A method for controlling a moving device, comprising: comparing the estimated position with the current position after the movement after the movement of the drive unit, and reflecting the comparison result in the next and subsequent movements.