JP2002303511A - Mobile body contact determination method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mobile body contact determination method for quickly determining contact without installing any attachment such as a touch wire to a mounted object. SOLUTION: Marks are applied to a base machine and a mounted machine, and the marks are recognized in image form by means of a photographing device such as a CCD camera. An imaginary point is arranged at a position with a fixed distance apart from the mark on the base machine, and when the mark on the mounted machine enters a range within the fixed distance or less from the imaginary point, it is determined that contact took place and supply of blowing air is stopped.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for judging contact between an object to be contacted and a moving object, and more particularly, to a method for judging contact between models in a wind tunnel experiment using the model. It is about the method.

[0002]

2. Description of the Related Art As shown in FIG. 4, a wind tunnel is used to examine the trajectory of a flying object such as an airplane or a rocket after detaching a load such as an auxiliary fuel tank or an emergency escape device for evacuating an occupant in an emergency. The mounting device 2 is connected to the robot 3 that moves in six axes by the support unit 9, the mounting position is set to the mounting position on the main device 1, and the locus after the mounting device 2 is separated from the main device 1 is An apparatus designed to simulate the robot 3 is used. In such an apparatus, as shown in FIG. 5, a sensor 4 such as a strain sensor capable of measuring a force applied to the mounted object 2 is provided inside the mounted object 2.
And the signal from the sensor 4 is measured by the measuring device 5, and based on the measurement result, the processing device 6 calculates the trajectory of the mounted object 2 after being separated from the mother machine 1, and the calculated trajectory is transferred to the robot controller 7. Then, the load 2 is fed back to the 6-axis robot 3 to move the mounted object 2 based on the calculation result of the processing device 6, thereby performing a simulation. In FIG. 4, reference numeral 8 denotes the direction of the wind in the wind tunnel.

[0003]

However, in such an apparatus, the load 2 collides with the mother machine 1 due to the vibration caused by the wind pressure of the wind 8, and not only the support portion 9 of the load 2 but also the mounting There was also a risk of destroying the part 2 and the mother machine 1 itself. For this reason, conventionally, a simulation is performed in a state where the mounted object 2 is separated from the base machine 1, and a touch wire is attached to the mounted object 2, and the touch of the touch wire to the base machine 1 is electrically detected, thereby performing the simulation. Detection of contact between the mounted object 2 and determination of contact between the base machine 1 and the mounted object 2 based on virtual simulation of movement of the base machine 1 and the mounted object 2 have been performed.

However, a simulation in a state where the mounted object 2 is separated from the mother machine 1 is assumed to be different from an actual state.
Since the sensor 4 is attached to the outside of the device, the direction and the pressure of the wind 8 are disturbed by that amount, so that the simulation cannot be performed accurately. In addition, the contact determination is performed only when the mounted object 2 collides with the base unit 1, so that the actual The contact can be recognized only after the breakage occurs. Further, when the mounted object supporting portion 9 of the six-axis robot 3 comes into contact with the mother machine 1, it cannot be detected. Further, the method of performing the movement virtual simulation is effective in a simulation in which the movement route is known in advance, but in the case of a simulation in which the mounted object 2 is separated from the base unit 1, it is difficult to simulate the operation of the mounted object 2 in advance.

Therefore, an object of the present invention is to provide a moving object contact determination method capable of determining contact at a high speed without attaching an accessory such as a touch wire to a mounted object.

[0006]

In order to achieve the above object, according to the present invention, a contact determination mark is attached to a contacted object such as a mother machine and a moving object such as a load, and this mark is designated as C.
The image is recognized and detected using an imaging device such as a CD camera, and the contact between the contacted object and the moving object is determined. However, since the marks are attached to the body of the contacted object and the moving object with unevenness, even if the marks can be image-recognized, there is a danger of contact when any of the marks approach one another There is a problem such as whether to make a determination, and if it is, the determination process takes a long time. Therefore, a virtual mark is set at a position substantially constant distance from the mark of the contacted object in consideration of the unevenness of the contacted object and the moving object, and when the virtual mark and the mark of the moving object approach the fixed distance or less, It is determined that the moving object contacts the contacted object.

In this way, even if the object or the moving object has a complicated shape, if any of the marks simply attached to the moving object is less than a predetermined distance from the dangerous area, the object is moved. It is sufficient to stop the air supply or shut down the apparatus because there is a danger that the contact object and the moving object may come into contact with each other, so that the processing can be simplified, the speed can be increased, and the configuration can be made at low cost. Further, in order to speed up the determination process, in the present invention, the virtual mark is not a line but a point, and the distance between the point and the mark attached to the moving object is measured to make the determination. That is, when the virtual mark is a line, the distance between the mark on the moving object and the virtual mark needs to be calculated by dropping a perpendicular from the mark on the moving object to the virtual mark, and it takes time to remove the perpendicular. However, there is no need to calculate the distance to a point, and the distance can be calculated at a higher speed.

Therefore, in the present invention, as described in claim 1, a mark on the contacted object and a mark on the moving object are imaged, and the contact of the moving object with the contacted object is determined. In the moving object contact determination method, a virtual mark is set at a position substantially at a fixed distance from the mark attached to the contacted object, and when the virtual mark and the mark of the moving object approach a fixed distance or less, the moving object is damaged. It is characterized in that it is determined that it comes into contact with a contact object.

By doing so, there is a fear that the contacted object and the moving object may collide with each other as in the related art, a simulation in a state where the two are separated from each other, and attaching an accessory such as a touch wire to the moving object. And the contact can be determined at high speed. As a result, there is no disturbance in the direction or pressure of the wind that occurs when using a touch wire, and contact determination can be made before the moving object collides with the contacted object. In addition, the collision between the contacted object and the moving object can be avoided in advance.

In this determination, the virtual mark set at a position substantially constant distance from the mark of the object to be contacted is set as a point at substantially constant interval.

As described above, the virtual mark set at a position substantially at a constant distance from the mark of the contacted object is not a line but a point, so that when the virtual mark is a line, the distance between the mark of the moving object and the virtual mark Requires a vertical line from the moving object mark to the virtual mark, and this process takes time.However, in the case of a point, the contact can be determined only by measuring the distance between the moving object mark and the points that make up the virtual mark. Good,
The determination can be performed at high speed.

According to the third aspect of the present invention, the imaging for the contact determination is performed by imaging the mark from two directions of a side of the moving object and a moving direction of the moving object. And

As described above, the contact is determined by imaging from two directions, so that the contact can be reliably determined regardless of the position of the moving object.

[0014]

Embodiments of the present invention will be illustratively described in detail below with reference to the drawings. However, the dimensions, materials, shapes, relative arrangements, and the like of the components described in this embodiment are not intended to limit the scope of the present invention to them unless otherwise specified. This is just an example.

FIG. 1 is a diagram for explaining a moving object contact determination method according to the present invention, and FIG. 2 is a diagram for explaining a configuration for implementing the moving object contact determination method according to the present invention. FIG. 3 is a diagram illustrating the contact object 10 and the moving object 11 viewed from the direction of the arrow 21. FIG. 3 is a flowchart for explaining the moving object contact determination method according to the present invention. In the figure, reference numeral 10 denotes a contact object such as a mother machine (pylon). , 11 is a moving object such as a load, 1
2 is a mark attached to the contacted object 10, and 13 is a mark attached to the contacted object 10.
A virtual mark set at a substantially constant distance from the mark 12 after recognizing the mark 12, a mark 14 attached to a moving object, and 15, 16 an image pickup device using a CCD camera or the like, as shown in FIG. Reference numeral 15 denotes an example in which the base unit 10 is imaged from the side, and the imaging device 16 is configured to take an image below the moving object 11, that is, from the moving direction of the moving object 11. 1
Reference numeral 7 denotes an image processing device, reference numeral 18 denotes a contact determination device, reference numeral 19 denotes a shutdown device, and reference numeral 20 denotes a wing of the base unit 10.

In the moving object contact judging device configured as described above, in the illustrated example, the mark 12 is laterally placed on the contacted object 10 such as the mother machine when viewed from the direction of the imaging device 15 in FIG. 2 as shown in FIG. Attached and mounted object 1 that is a moving object
1 is likewise marked laterally at 14. Similarly, when viewed from the direction of the imaging device 16, the mark is attached in the same manner as in FIG. 1 so that the contact between the wing portion 20 of the base machine 10 and the moving object 11 can be determined. The operation of the mounted object as the moving object 11 is the same as that in the case of FIG. 4 described as the conventional example.

When the moving object 11 is ready, FIG.
In step 31 in FIG.
The image processing device 1 captures an image including the moving object 11 and
7 recognizes the image and first detects the mark 12 of the base unit 10. Then, in the next step 32, the virtual mark 13 is set at a position substantially constant distance from the detected mark position of the base unit 10. The setting position of the virtual mark 13 can be set to an arbitrary distance by the operator. The virtual mark 13 is set as a point at a constant interval as described above. That is, by making the virtual mark 13 a point instead of a line, when the virtual mark 13 is a line, the distance between the mark 14 of the moving object 11 and the virtual mark 13 is perpendicular to the mark 14 of the moving object 11 to the virtual mark 13. It is necessary to take down and calculate, this process takes time,
In the case of a point, the mark 14 of the moving object 11 and the virtual mark 13
It is sufficient to determine the contact simply by measuring the distance to the point constituting, and the determination can be performed at high speed.

Then, in the next step 33, the mark 14 of the mounted object 11 as a moving object is
The distance between the mark 14 and the previously set virtual mark 13 is calculated by the contact determination device 18. Since this calculation is a distance calculation between the finite number of virtual marks 13 and the marks 14 on the finite number of moving objects 11 as well,
Easy to handle. If all of the calculated distances are equal to or more than a certain value, it is determined that there is no contact, and the process proceeds to the next step 36 to determine whether or not the process is completed.

As described above, when the detachment of the load 11 as a moving object is instructed from the base machine 10 as a contacted object, the wind pressure and the like at that time are detected by the sensor 4 and the processing device 6 is turned on by the processing device 6. And instructs the control device 7 to control the six-axis robot 3 to move the robot along the calculated trajectory. Therefore, the imaging devices 15 and 16
Mark 14 of the mounted object 11 as a moving object imaged at
Is detected in step 33 for each imaging frame, and the image processing device 17 detects the mark 14 and
Calculates the distance between the mark 14 and the virtual mark 13 in step 34 and makes a contact determination.

In this determination, the moving object 11 is
When the two appear to be overlapped when viewed from the direction of the imaging device 16, the image is taken by the imaging device 15, and the moving object 11 is moved, for example, to the left from the wing 20 of the base machine (contact object) 10 in the figure. When it comes out, it is performed with an image captured by the imaging device 16. When the distance between the mark 14 on the moving object 11 and the virtual mark 13 becomes equal to or less than a predetermined value, the process proceeds to step 35 to shut down the system or stop the wind in the wind tunnel.

In the above description, the case where the moving object is separated in the dropping direction has been described as an example. However, the present invention can naturally be applied to the case of a simulation of a device for urgently escaping the crew of an airplane. Yes,
In this case, the same configuration can be achieved by providing the imaging device 16 provided below the moving object above the contacted object. In the above description, the case where the present invention is applied to a simulation in a wind tunnel has been described as an example. However, it is apparent that the present invention can be used not only for such a case but also for various contact determinations. It is a matter of course that both of them may be moving objects instead of the combination of the contact object and the moving object.

[0022]

As described above, according to the present invention, there is a fear that a contacted object and a moving object may collide with each other as in the prior art. There is no need to attach an object or the like, and the contact can be determined at high speed. As a result, there is no disturbance in the direction or pressure of the wind that occurs when using a touch wire, and contact determination can be made before the moving object collides with the contacted object. In addition, the collision between the contacted object and the moving object can be avoided in advance.

In addition, when the virtual mark set at a position substantially at a fixed distance from the mark of the contact object is not a line but a point, when the virtual mark is a line, the distance between the mark of the moving object and the virtual mark moves. This process requires a vertical line from the object mark to the virtual mark, and this process takes time,
In the case of a point, a contact determination may be made simply by measuring the distance between the mark of the moving object and the point forming the virtual mark, and the determination can be performed at high speed. The imaging for the contact determination is performed from two directions, that is, the side of the moving object and the moving direction of the moving object, so that the contact can be reliably determined regardless of the position of the moving object. it can.

[Brief description of the drawings]

FIG. 1 is a diagram for explaining a moving object contact determination method according to the present invention.

FIG. 2 is a diagram illustrating a configuration for implementing a moving object contact determination method according to the present invention.

FIG. 3 is a flowchart for explaining a moving object contact determination method of the present invention.

FIG. 4 is a view for explaining a conventional simulation method in a wind tunnel.

FIG. 5 is an explanatory diagram of an apparatus for measuring a force applied to a mounted object.

[Explanation of symbols]

 Reference Signs List 1 mother machine 2 mounted object 3 robot 4 sensor 5 measuring device 6 processing device 7 control device 8 wind in wind tunnel 9 support portion 10 contacted object 11 moving object 12 mark attached to contacted object 13 virtual mark 14 attached to moving object Mark 15, 16 Imaging device 17 Image processing device 18 Contact determination device 19 Shutdown device 20 Wing part 21 Arrow 30-37 Processing flow

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 2F065 AA00 AA04 BB05 BB15 BB28 DD06 FF04 JJ26 KK01 QQ24

Claims (3)

[Claims] 1. A moving object contact determination method for imaging a mark on a contacted object and a mark on a moving object to determine whether the moving object contacts the contacted object. A virtual mark is set at a position that is approximately a fixed distance away from the mark, and when the virtual mark and the mark of the moving object approach each other within a certain distance or less, it is determined that the moving object contacts the contacted object. Object contact determination method. 2. The moving object contact determination method according to claim 1, wherein the virtual mark set at a position at a substantially constant distance from the mark of the contact object is a point at a substantially constant interval. 3. The moving object contact determination method according to claim 1, wherein the mark is imaged and determined from two directions of a side of the moving object and a moving direction of the moving object.