JP2001004357A - Method for detecting approaching position of mobile object - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method for detecting the approaching position of a mobile object for fixing the mobile object to the desired position of a working object in a desired attitude by a simple means. SOLUTION: In a method for detecting the approaching position of a mobile object, when a mobile body 10 is made directly faced to a working object 20 (the angle of inclination θ=0), the mobile object 10 is brought into contact with the voltage setting bar of a bar 21 to be detected, and the voltage of the contact part is detected by a voltage detector 13a of an assembled slide type sensor 13. The detected voltage of the bar to be detected is made correspond to the position on the working object so that the exact detection of the present position of the mobile body related with a horizontal direction along the vertical plane of the working object, that is, a Y direction which seems difficult in a conventional manner can be realized according to the value of the detected voltage. Thus, the approaching position of the mobile object can be exactly detected.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for detecting a leaning position of a moving body, and more particularly, to a method of detecting a moving body at a predetermined distance in the horizontal direction from a work object whose leaning target is a vertical plane. Measures with the distance sensor placed above and moves so that the difference between the measured values becomes zero, and detects the leaning position of the moving body so as to face the work object directly in front, detecting the leaning position of the moving body About the method.

[0002]

2. Description of the Related Art A moving object guiding method as shown in FIG. 8 is an example applicable to this kind of moving object leaning position detecting method. In the moving object guidance method of FIG.
An area sensor 81 and a plurality of obstacle sensors 82a, 82b, 82c, 82d are arranged in front of the vehicle, and obstacles 91, 92, 93 are detected by these sensors 81, 82a, 82b, 82c, 82d. This guides the moving body 80 to avoid these obstacles 91, 92, 93. A laser scanner is used as the area sensor 81, and obstacle sensors 82a, 82b, 82
Ultrasonic sensors are used as c and 82d. In this case, the area sensor 81 roughly detects the obstacles 91, 92, 93, and outputs the obstacle sensors 82a, 82b, 82c,
82d measures the distance between the obstacles 91, 92 and 93.

[0003]

Recently, there has been a demand for moving a moving body at a desired position and a desired posture with respect to an object to be worked, that is, to move the moving body toward a fixed position with respect to the work object. Some attempts have been made to apply the above-mentioned conventional mobile object guidance method, but various problems have been encountered. For example, the area sensor 81
Roughly detects obstacles 91, 92, 93,
Resolution and accuracy are rough for approaching a fixed position, and application is difficult. Further, the obstacle sensor measures the distance between the obstacle and the obstacle. However, this is only the measurement in the X direction in FIG. 8, and there is a problem that the position cannot be specified in the Y direction. The present invention has been made in order to solve the above problems, and by means of a simple and economical means,
It is an object of the present invention to provide a method for detecting a leaning position of a moving body, which can position the moving body at a desired position and a desired posture with respect to a work target object.

[0004]

In order to solve the above-mentioned problem, the invention according to claim 1 is to provide a distance between a moving object and a work object whose vertical object is a vertical plane by a predetermined distance in a horizontal direction. A moving body that is opened and measured by a distance sensor arranged on the moving body, and moves so that a difference between the measured values becomes zero, and detects a leaning position of the moving body so as to face the work object in front of the moving body. In the leaning position detection method, when the moving body is directly in front of the work object, the moving body is disposed so as to extend horizontally on the vertical plane of the work object, and a voltage that gradually changes from one end to the other end. The slide bar sensor comes into contact with the set bar to be detected, detects the voltage of the bar to be detected in front of the moving body, and determines whether the moving body has a horizontal direction along the vertical plane of the work target object. It is characterized by detecting whether in location. In addition, the invention according to claim 2 measures the distance to the work target object on which the moving body leans on a vertical plane by a distance sensor arranged on the moving body at predetermined intervals in the horizontal direction. In the method for detecting a leaning position of a moving body, which moves so that the value difference becomes zero and detects a leaning position of the moving body so as to face the work object in front of the work object, the moving body is positioned directly in front of the work object. In the case of facing each other, a reflector unit including a plurality of positioning reflectors arranged horizontally in a line on a vertical plane of the work target object, and a calibration reflector indicating a reference position To the position of the reflector for calibration by detecting the position of the reflector for calibration by using the detected position as a reference. What number of the reflector or detect the use out position from the reflection plate down, moving object relates horizontal direction along the vertical plane of the work object, it is characterized by detecting whether in any position. further,
According to a third aspect of the present invention, the distance to the work target object on which the moving body leans is a vertical plane is measured by a distance sensor arranged on the moving body at predetermined intervals in the horizontal direction, and the measured value is measured. The moving body moves so that the difference becomes zero, and detects a leaning position of the moving body so as to face the work object in front of the moving object. In a state where the light is reflected, the light is projected onto a reflector unit having a plurality of reflectors, which are arranged so as to be arranged in a line horizontally in a vertical plane of the work target object and whose reflectivity changes sequentially, and a plurality of reflections are performed. Receives reflected light reflected from any of the plates, detects which reflected plate is reflected by the magnitude of the received light amount,
It is characterized by detecting the position of the moving body in the horizontal direction along the vertical plane of the work target object. According to the configuration described above, when the moving body is facing the work object in front of the moving body, the moving body is shifted by a distance sensor disposed on the moving body at a predetermined interval in the horizontal direction. Since the difference between the object and the measurement position is moved to be zero, the current position in the horizontal direction along the vertical plane of the work target object can be accurately detected.
That is, it is possible to accurately detect the leaning position of the moving body.

[0005]

Embodiments of the present invention will be described below with reference to the accompanying drawings. FIG. 1 is a plan view showing an example in which a moving body to which a first embodiment of a moving body leaning position detecting method according to the present invention is applied is going to directly face a flat work target object, and FIG. FIG. 3 is a view showing a moving object directly facing a flat work target object operating a sliding terminal to move to a desired position. FIG. 3 shows how the sliding terminal is operated in FIG. It is an expanded perspective view which shows whether it is doing. In these drawings, with respect to the vertical plane of the flat work object,
A direction crossing at right angles, a direction parallel to the horizontal, and a direction parallel to the vertical are defined as an X direction, a Y direction, and a Z direction, respectively. In the center of the flat front surface of the moving body 10, a slide sensor 13 projecting at right angles to the front surface is disposed, and the first and second distances are respectively left and right away from the slide sensor 13 by a distance d / 2. Sensors 11 and 12 are arranged. The detected bar 21 is horizontally mounted on the target surface of the work target object 20 (however, the detected bar 21 is omitted in FIG. 1 to make the drawing easier to see).

[0006] The first and second distance sensors 11 and 12 (for example, using ultrasonic sensors or the like) are used to travel the distance perpendicular to the front of the moving body 10 and reach the work object 20. g1 and g2 are measured. Further, by using the difference between the two distances g1 and g2, the posture of the moving body 10 with respect to the work target object 20, that is, the work target object 20
The angle θ representing the inclination of the front of the moving body 10 with respect to the opposing plane is obtained by the following equation (1), and control is performed so that θ becomes zero. θ = tan ^-1 [(g1-g2) / d)] (1) As shown in FIG.
, The distance g1 in the X direction is g1 = g2 = k1 (a predetermined constant), and the tip of the slide sensor 13 is
Contact

[0007] As shown in FIG.
Are a voltage setting bar 21a having a length H and a ground bar 21.
b, and the voltage setting bar 21a and the ground bar 21b are attached so as to extend in parallel with the X direction at a predetermined interval in the Z direction on the vertical surface of the work target object 20. . The voltage setting bar 21a is a resistor having one end connected to the positive electrode of the DC power supply 22 having the voltage V and the other end connected to the negative electrode of the DC power supply 22 and the ground. The ground bar 21b is a conductor and is connected to the ground. The slide sensor 13 is used to
Voltage detectors 13a projecting a predetermined distance at right angles to the front of
And a ground contact 13b. The voltage detector 13a and the ground contact 13b are arranged at a predetermined interval in the Z direction, and the height at which each is arranged matches the height of the voltage setting bar 21a and the ground bar 21b. ing. Since the slide sensor 13 and the detected bar 21 are configured as described above, when the moving body 10 stops at the posture and position shown in FIG. 2, the voltage detector 13a of the slide sensor 13 The ground contact 13b contacts the voltage setting bar 21a while being urged by the ground bar 21b. Voltage detector 13a
The DC voltage between the ground contact 13b and the ground contact 13b is detected by the AD board to detect the position of the moving body 10 in the Y direction. For example, D
Since the DC voltage Va at an arbitrary distance “h” from the terminal of the voltage setting bar 21 a connected to the negative electrode of the C power supply 22 is detected by the AD board according to the following equation (2), Va = V × (h / H) (2) Conversely, the position h where the voltage detector 13a is in contact with the voltage setting bar 21a is detected by the following equation (3) based on the voltage Va detected by the AD board. h = H × (Va / V) (3) Since the attachment position of the detected bar 21 to the work target object 20 is known, the voltage detector 13a is brought into contact with the voltage setting bar 21a, and the above equation ( By detecting the desired position according to 3), the moving body 10 is moved to the desired position in the Y direction.
Can be moved. Of course, when moving the moving body 10 to a desired position in the Y direction,
If the position in the direction is shifted, adjustment is made using the detection data of the first and second distance sensors 11 and 12 so as to eliminate the shift. By performing these operations, the moving body 10 can be moved to a desired position in the X and Y directions with a desired posture, and the detection of the leaning position of the moving body can be performed accurately. Further, in the above-described example, for example, the slide sensor 1 on the front of the moving body 10 is used.
Area sensor near 3 (not shown, laser scanner, etc.)
Is arranged, and is used to roughly approach the work target object 20 at the initial stage of the detection of the approaching position of the moving body, the initial approach can be efficiently performed.

Next, a second embodiment of the present invention will be described. FIG. 4 is a plan view showing an example in which the moving body to which the second embodiment of the moving body leaning position detecting method of the present invention is applied is going to directly face a flat work target object, and FIG. FIG. 7 is a diagram showing a state in which a moving object directly facing a flat work target object operates a light emitting diode and a photodiode to move to a desired position. The second embodiment is different from the first embodiment shown in FIGS. 1 to 3 in that the light emitting element 16 and the light receiving element 1 are replaced with the slide sensor 13 and the detection bar 21.
5. The fixed slit 17 and the reflector plate unit 30 are used, and the pulse of the reflected light from the reflector plate unit 30 is counted by a counter (not shown). Therefore, g1 = g2 = k2 (predetermined constant), and the moving object 10 with respect to the opposing plane of the work target object 20
The operation until the angle θ representing the inclination of the front of
The description is omitted because it is the same as in the first embodiment. In this example, the light receiving element 15 includes three photodiodes 15a, 15b, and 15c, and the light emitting element 16 includes three photodiodes.
It consists of two light emitting diodes 16a, 16b, 16c. Although the photodiodes 15a and 15c and the light emitting diodes 16a and 16c are arranged at the same height, the photodiode 15b and the light emitting diode 1
6b is arranged at a lower position than the photodiodes 15a and 15c and the light emitting diodes 16a and 16c. The reflecting plate unit includes a positioning reflecting plate 31,
32,..., And 3n are arranged in a horizontal row at equal intervals, and have the same shape as the positioning reflectors immediately below any of the positioning reflectors (in this example, directly below the positioning reflector 33 in this example). Is disposed on one calibration reflection plate 30a. When g1 = g2 = k2 as described above, when the light emitting diode 16b emits light, the light is irradiated to the height of the calibration reflector 30a of the reflector unit 30. Then, the moving body 10 reflects the light to the calibration reflecting plate 30a,
7 and translates in the Y direction so that the light is received by the photodiode 15b. When the photodiode 15b receives light, the moving body 10 resets the pulse count value of the counter to zero, and stops the light emitting diode 16b from emitting light. Therefore, the mobile object 10 is
a, 16c start emitting light, and the emitted light is reflected by the positioning plate reflectors 31, 32,.
The reflected light reflected by 3n and passing through the fixed slit 17 is received by the photodiodes 15a and 15c, respectively. The moving body 10 includes the photodiodes 15a, 1
Each time light is received by 5c, the counter counts up or down according to the moving direction, and reaches the desired position by detecting the current position.

The mounting positions of the calibration reflector 30a and the positioning reflectors 31, 32,..., 3n of the reflector unit 30 with respect to the work object 20 are known, so that the photodiodes 15a and 15c are used for positioning. If the desired position is detected by receiving the reflected light from the reflecting plates 31, 32,..., 3n, the moving body 10 can be moved to the desired position in the Y direction. Of course, if the posture of the moving body or the position in the X direction is shifted when moving the moving body 10 to a desired position in the Y direction, the detection data of the first and second distance sensors 11 and 12 may be used. Using, readjust to eliminate the deviation. By performing these operations, the moving body 10 can be moved to a desired position in the X and Y directions with a desired posture, and the detection of the leaning position of the moving body can be performed accurately. Further, in the above-described example, for example, an area sensor (not shown, near the elements 15 and 16 in front of the moving body 10).
If a laser scanner or the like is arranged and used to roughly approach the work object 20 at the beginning of the detection of the approaching position of the moving body, the initial approach can be performed efficiently. Further, in this example, the reflecting plate for positioning 3
The photodiode 15 is used to detect 1, 32,.
a, 15c and the light emitting diodes 16a, 16c were used in two pairs, each pair being positioned inside the opposing side edges of the positioning reflectors 31, 32, ..., 3n. By arranging them so that they can be detected, the positions of the positioning reflectors 31, 32,..., 3n can be accurately detected.
Of course, if accuracy is not so required, a pair may be used. Further, the light receiving element 11 is a photodiode, but may be a phototransistor or an optical sensor such as a Cds cell.

Next, a third embodiment of the present invention will be described. FIG. 6 is a plan view showing an example in which a moving body to which the third embodiment of the moving body leaning position detecting method of the present invention is applied is going to directly face a flat work target object, and FIG. FIG. 7 is a diagram showing a state in which a moving object directly facing a flat work target object operates a light emitting diode and a photodiode to move to a desired position. However, in FIG. 6, the display of the reflection plate unit 40 is omitted to make the drawing easy to see. This third embodiment is different from the second embodiment shown in FIGS. 4 and 5 in that the reflecting plate unit 30 is used instead of the reflecting plate 4.
0 is used. The reflection plate 40 does not include the calibration reflection plate 30a, and the positioning reflection plates 31, 3 are not provided.
Instead of 2, 3 and 3n, the reflectors 41 and 4 whose shapes and arrangements are the same but whose reflectivities change sequentially
2 to 4n. Therefore, g1 = g2
= K3 (predetermined constant), and the work object 2
The operation until the angle θ indicating the inclination of the front of the moving object 10 with respect to the opposing plane of 0 becomes zero is the same as in the first and second embodiments, and thus the description is omitted. As the light receiving element 15 and the light emitting element 16 in the third embodiment shown in FIG. 6, a light emitting diode 16d and a photodiode 15d are used as shown in FIG. g1 = g2 = k3
Then, the moving body 10 starts the light emission of the light emitting diode 16d, and outputs the reflected light in which the emitted light is reflected by any of the reflectors 41, 42, to 4n of the reflector unit 40 to the photodiode. The light is received by 15d.
The moving body 10 compares the amount of received light with a preset threshold value, and determines whether the received light is a reflection plate 41, 42,.
Is determined, and the current position is detected. Since the mounting positions of the reflectors 41, 42,..., 4n of the reflector unit 40 with respect to the work object 20 are known, the reflectors 4
If the desired position is detected by receiving the reflected light from 1, 42,..., 4n, the moving body 10 can be moved to the desired position in the Y direction. Of course, when moving the moving body 10 to a desired position in the Y direction, if the posture of the moving body or the position in the X direction is shifted, the first
Using the detection data of the second distance sensors 11 and 12,
Re-adjust to eliminate the gap. By performing these operations, the moving body 10 can be moved to a desired position in the X and Y directions with a desired posture, and the detection of the leaning position of the moving body 10 can be performed accurately. Further, in the above-described example, for example, the element 1 in front of the moving body 10
An area sensor (not shown, a laser scanner, etc.) is arranged in the vicinity of 5 and 16, and at the beginning of the detection of the approaching position of the moving object,
If used to roughly approach the work target object 20, the initial approach can be efficiently performed. In this example, the photodiodes 15d and the light emitting diode 1 are used for detecting the reflection plates 41, 42,.
6d and can be realized with a simpler configuration,
If two pairs of photodiodes and light emitting diodes and fixed slits are used as in the second embodiment in FIG. 5, the positions of the reflectors 41, 42,... The leaning position of the body 10 can be detected more accurately.

[0011]

As described in detail above, the moving object leaning position detecting method according to the present invention sets the distance to the work object, in which the moving object leans in a vertical plane, at predetermined intervals in the horizontal direction. The distance of the moving object is measured by a distance sensor placed on the moving object, and the moving position of the moving object is detected so that the difference between the measured values becomes zero, and the moving object is detected so as to face the work object in front of the moving object. In the leaning position detection method, when the moving body is directly in front of the work object, it is arranged so as to extend horizontally on a vertical plane of the work object, and sets a voltage that gradually changes from one end to the other end. Contacting the detected bar with the slide sensor, and detecting the voltage of the detected bar in front of the moving body,
In the horizontal direction along the vertical plane of the work target object, by detecting at what position the mobile body is in a state where the mobile body is facing the work target in front of the mobile body, If the assembled slide-type sensor contacts the bar to be detected and detects the voltage of the contacted part, the voltage and the position on the work target object correspond,
The moving body can accurately detect the current position in the horizontal direction along the vertical plane of the work target object based on the detected voltage value, and can accurately detect the leaning position of the moving body. Further, according to the method of detecting a leaning position of a moving object of the present invention, when the moving object is in front of the work object in front of the work object, a plurality of the work objects are arranged so as to be horizontally aligned in a vertical plane of the work object. A reflector for positioning, and a reflector unit having a calibration reflector indicating a reference position are projected to detect the position of the calibration reflector, and the detected position is used as a reference. Detects the position of the positioning reflector by projecting light to the unit, detects the position of the positioning reflector from the calibration reflector, and moves the moving body horizontally along the vertical plane of the work target object. With respect to the direction, it is possible to detect the position in a non-contact manner. Furthermore, when the moving object is in front of the work object in front of the work object, a plurality of reflection plates arranged so as to be arranged in a line in a horizontal plane on a vertical plane of the work object and having a sequentially changing reflectance are provided. The reflected light reflected from any of the plurality of reflectors, detects which reflector is reflected by the amount of received light, and moves the moving object to the work object. The position of the object in the horizontal direction along the vertical plane can be detected in a non-contact manner.

[Brief description of the drawings]

FIG. 1 is a plan view showing an example in which a moving object to which a first embodiment of a moving object leaning position detecting method according to the present invention is applied is to face a flat work object straight.

FIG. 2 is a diagram showing a movable body directly facing a flat work target object operating a slide terminal to move to a desired position.

FIG. 3 is an enlarged perspective view showing how a slide terminal is operated in FIG. 2;

FIG. 4 is a plan view showing an example in which a moving object to which a second embodiment of the moving object leaning position detecting method of the present invention is applied is to face a flat work target object straight.

FIG. 5A shows a vertical plane of a flat work object such that the reflectors for positioning the reflector unit are arranged in a horizontal line along a vertical plane of the flat work object; It is a front view which shows the place attached to.
(B) is a plan view showing a moving body that emits light to and receives light from the reflection plate unit of (a).

FIG. 6 is a plan view showing an example in which a moving object to which a third embodiment of the moving object leaning position detecting method according to the present invention is applied is to face a flat work object straight.

FIG. 7 illustrates a state in which the moving object directly facing the flat work target object operates the light emitting diode and the photodiode in order to move to a desired position by the moving object leaning position detection method of FIG. 6; FIG.

FIG. 8 is a diagram for explaining a conventional moving object guidance method applicable to a moving object leaning position detection method.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Moving body 11 1st distance sensor 12 2nd distance sensor 13 Slide sensor 13a Voltage detector 13b Ground contact 15 Light receiving element 15a, 15b, 15c, 15d Photodiode 16 Light emitting element 16a, 16b, 16c, 16d Light emission Diode 17 Fixed slit 20 Work object 21 Bar to be detected 21a Voltage setting bar 21b Ground bar 22 DC power supply 30,40 Reflector unit 31,32, ..., 3n Reflector for positioning 41,42, ..., 4n Reflector

 ──────────────────────────────────────────────────続 き Continued on front page F term (reference) 2F065 AA03 AA37 BB15 FF09 FF11 FF16 FF19 FF44 GG07 GG12 HH04 HH12 JJ05 JJ16 JJ18 LL12 LL28 PP22 QQ06 TT02 2F068 AA03 AA46 CC00 FF03 TT25 TT03 TT25 DD03 TT25 DD03 GG07 GG09 GG58 GG59 GG62 GG63 HH09 HH12 HH14 HH30 LL03

Claims (3)

[Claims] 1. A distance sensor arranged on a moving body at a predetermined interval in a horizontal direction to measure a distance to a work target object on which the moving body leans is a vertical plane, and a difference between the measured values is zero. In the method for detecting a leaning position of a moving body so as to face the work object in front of the work object, the moving body is facing the work object directly in front. In the case of, it is arranged so as to extend horizontally on the vertical plane of the work target object, contacts the detected bar that sets the voltage that gradually changes from one end to the other end with a slide sensor, and comes in front of the moving body A method of detecting a leaning position of a moving body, comprising detecting a voltage of a certain bar to be detected, and detecting a position of the moving body with respect to a horizontal direction along a vertical plane of the work target object. 2. The method according to claim 1, further comprising: measuring a distance to the work target object on which the moving body leans in a vertical plane by a distance sensor disposed on the moving body at predetermined intervals in a horizontal direction, and when a difference between the measured values is zero. In the method for detecting a leaning position of a moving body so as to face the work object in front of the work object, the moving body is facing the work object directly in front. In the case of, a plurality of positioning reflectors arranged so as to be horizontally aligned in a vertical plane of the work target object, and a reflector unit having a calibration reflector indicating a reference position, and projecting light to the reflector unit. The position of the calibration reflector is detected, and based on the detected position, the position of the positioning reflector is projected by projecting light to the reflector unit, and the position of the calibration reflector is determined. Detecting the position of the positioning plate and detecting the position of the moving body in the horizontal direction along the vertical plane of the work target object, and detecting the position of the moving body leaning. . 3. The distance to a work target object on which a moving body leans vertically is measured by a distance sensor arranged on the moving body at a predetermined interval in the horizontal direction, and a difference between the measured values is zero. In the method for detecting a leaning position of a moving body so as to face the work object in front of the work object, the moving body is facing the work object directly in front. In the case of, the light is projected on a reflector unit having a plurality of reflectors, which are arranged so as to be arranged in a line horizontally in a vertical plane of the work target object and have a sequentially changing reflectance, and any one of the plurality of reflectors is used. The reflected light reflected from the object is received, the reflected light is detected from which of the reflecting plates according to the amount of the received light, and the moving object is in any position with respect to the horizontal direction along the vertical plane of the work target object. Or Indu position detecting method of a moving body and detects.