JP2013148423A - Movement amount measurement device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately measure the amount of movement in which an object to be measured has moved in a predetermined measurement direction.SOLUTION: A sensor 10 specifies a characteristic part from an arm surface 101a of an extendable arm 100 by comparing with a peripheral area in terms of shades and development of colors; detects the amounts of displacement in which the specified characteristic part has moved in an X-axis direction and a Y-axis direction, respectively, in association with movement in a direction of movement of an arm body 101 of the extendable arm 100; calculates the amount of displacement in the direction of movement of the arm body 101 of the extendable arm 100 from the amount of displacement in the X-axis direction on the basis of an angle formed by the X-axis direction and the direction of movement of the arm body 101 of the extendable arm 100; calculates the amount of displacement in the direction of movement of the arm body 101 of the extendable arm 100 from the amount of displacement in the Y-axis direction on the basis of an angle formed by the Y-axis direction and the direction of movement of the arm body 101 of the extendable arm 100 (45°); and calculates the average value of the amounts to determine the amount of movement in the direction of movement of the arm body 101 of the extendable arm 100.

Description

  The present invention relates to a technique for accurately measuring the amount of movement of an object to be measured in a predetermined measurement direction.

Patent Document 1 describes that the amount of movement of an object is measured using a speckle pattern generated by diffused light from the surface of the object irradiated with laser light.
Further, in Patent Document 2, a high frequency pulse is applied to one end of a parallel conductor (38) regarded as an impedance equal distribution state, and an impedance mismatch generator (2) is installed in the middle of the parallel conductor (38). The impedance mismatch generator (2) generates a reflected wave, measures the time until it returns, and multiplies this time by the voltage propagation speed, so that the impedance mismatch generator is applied from the position where the parallel conductor is applied. The point which measures the distance to (2) is described.

  Further, in Patent Document 3, pattern data corresponding to the temperature of the scale plate 3 measured by the high-precision temperature sensor 6 is called from the pattern data storage unit 8A, and the imaging data of the image sensor 4 at the current position of the moving body 2 The pattern data is collated by the position calculating means 8B, the absolute position on the scale plate 3 is calculated and specified, and the numerical value is stored. At the position where the moving body 2 has moved and stopped, the image data of the image sensor 4 is again detected. It is described that the pattern data is collated by the position calculation means 8B, the absolute position on the scale plate 3 is calculated and specified, and the movement amount is calculated by subtracting the stored numerical value of the origin.

JP-A-3-235007 JP 2000-121308 A JP 2006-29933 A

However, in the technique disclosed in Patent Document 1, the speckle pattern may be distorted depending on the material to be measured and the surface state, and the measurement accuracy may be reduced.
Further, the technique disclosed in Patent Document 2 has a problem in that the amount of movement of a moving object other than the parallel conductor (38) cannot be measured.

Similarly, the technique disclosed in Patent Document 3 has a problem in that the amount of movement of a moving object other than the scale plate 3 cannot be measured.
The present invention has been made in view of such problems, and the object of the present invention is that the measurement object and the measurement length are not limited, and the measurement object regardless of the material and surface state of the measurement object. An object of the present invention is to provide a technique for accurately measuring the amount of movement of an object in a predetermined measurement direction.

  A movement amount measuring apparatus according to claim 1 made to solve the above-mentioned problem is a movement amount measuring apparatus for measuring a movement amount by which an object has moved in a predetermined measurement direction, and is characterized by the surface of the object. Feature specifying means for specifying a portion, displacement amount detecting means for detecting a displacement amount of the feature portion specified by the feature specifying means in a predetermined component direction as the object moves, and the displacement amount detection A movement amount calculating means for converting the displacement amount in the component direction detected by the means into a displacement amount in the measurement direction, and using the converted displacement amount in the measurement direction as the movement amount. It is characterized by.

  According to the movement amount measuring apparatus of the present invention configured as described above, the displacement amount in the component direction of the characteristic portion of the object surface is converted into the displacement amount in the measurement direction. Since a technique for identifying a certain part is adopted, the measurement target is not limited and the measurement length is not limited. In addition, the method for identifying a characteristic portion from the surface of the object as described above is not easily influenced by the material and surface state of the measurement target.

  Therefore, according to the movement amount measuring apparatus of the present invention, the measurement object and the measurement length are not limited, and the object to be measured is moved in the predetermined measurement direction regardless of the material and surface state of the measurement object. The amount can be measured with high accuracy.

In this case, the component direction may be set in the same direction as the measurement direction (Claim 2), or may be set in a direction different from the measurement direction (Claim 3).
In the latter case, the movement amount calculation means converts the displacement amount in the component direction detected by the displacement amount detection means into a displacement amount in the measurement direction based on the elevation angle formed by the measurement direction and the component direction, The converted displacement amount in the measurement direction may be used as the movement amount of the object in the measurement direction.

  Further, there may be a plurality of component directions (claim 4). With this configuration, for example, an average value of the displacement amount in the measurement direction calculated based on the displacement amount in each component direction is used as the movement amount in the measurement direction of the object, so that a measurement error or failure in one direction can be obtained. Can be compensated by the other, and the amount of movement of the object in the measurement direction can be measured with higher accuracy.

  In this case, it is conceivable that two of the plurality of component directions constitute a set and are set to be equiangular across the measurement direction (Claim 5). With this configuration, the displacement amount in each component direction can be set to the same value. For example, the average value of the displacement amount in the measurement direction calculated based on the displacement amount in each component direction is set in the measurement direction of the object. By using the amount of movement, the amount of movement of the object in the measurement direction can be measured with higher accuracy.

  Furthermore, it is more preferable that the two component directions constituting the set are set to have an equal angle of 45 degrees across the measurement direction (Claim 6). As a specific example, if a laser sensor capable of simultaneously measuring in the X-Y direction is inclined at 45 degrees, it can be easily realized. With this configuration, it can be expected that reliability or accuracy is improved by the movement amount calculated in each component direction.

  Further, it is preferable that a plurality of sets of component directions as described above exist (claim 7). With this configuration, it is expected that the reliability or accuracy can be further improved by the amount of movement calculated for each set, compared to the case where there is one set in the component direction.

  Further, it is conceivable that two sets of the plurality of sets of component directions are set to face each other (claim 8). With this configuration, even if a measurement error occurs in one set, the other set can be supplemented, and the amount of movement of the object in the measurement direction can be measured with higher accuracy.

  Further, it is conceivable that the above-described component direction is set on the same plane as the measurement direction (claim 9). If comprised in this way, the effect which complements the measurement error of a certain direction in another direction will increase.

Block diagram (a) and explanatory diagram (b) of movement amount measuring device (2 sensing) A plan view and a front view showing the state of measurement of the movement measuring device (2 sensing) The perspective view which shows the mode of a measurement of a moving amount measuring apparatus (2 sensing) A plan view and a front view showing the state of measurement of the movement measuring device (1 sensing) The perspective view which shows the mode of a measurement of a moving amount measuring apparatus (1 sensing) Block diagram of movement measurement device (4 sensing) A plan view and a front view showing the state of measurement of the movement measuring device (4 sensing) The perspective view which shows the mode of a measurement of a moving amount measuring apparatus (4 sensing)

Embodiments of the present invention will be described below with reference to the drawings.
The movement amount measuring apparatus 1 shown in FIG. 1 is an apparatus that measures the movement amount that an object has moved in a predetermined measurement direction. In the present embodiment, as an example, an example in which the movement amount measuring device 1 measures a length dimension of an extendable arm mounted on a work vehicle is described.

[1. Description of Configuration of Movement Amount Measuring Apparatus 1]
Next, a specific configuration of the movement amount measuring apparatus 1 will be described.
The movement amount measuring apparatus 1 includes a sensor 10, a calculation unit 20, a storage unit 30, and an external output unit 40.

[1.1. Description of sensor 10 configuration]
As shown in FIGS. 2 and 3, the sensor 10 is installed to face the surface (hereinafter referred to as an arm surface) 101 a of the arm body 101 of the telescopic arm 100, and a laser (shown by a one-dot chain line) is placed on the telescopic arm 100. Various processes are performed based on a light emitting unit that emits light toward the arm surface 101a, a light receiving unit that receives a laser beam that is irradiated from the light emitting unit and then reflected by the arm surface 101a of the telescopic arm 100, and a laser that is received by the light receiving unit. And a processing unit to be executed.

It should be noted that the light emitting unit and the light receiving unit are installed at equal intervals while the arm surface 101a of the telescopic arm 100 and the arm body 101 are moving.
Further, the processing unit specifies a characteristic part (characteristic part) compared to the surroundings based on the density or color condition from the arm surface 101a of the telescopic arm 100 based on the laser received by the light receiving unit. Then, the processing unit moves in the X-axis direction and the Y-axis direction (both correspond to the component direction) as the specified characteristic portion moves in the movement direction (corresponding to the measurement direction) of the arm body 101 of the telescopic arm 100. The displaced amount is detected (see FIG. 1B). Note that the X axis and the Y axis are set on the same plane so as to be 45 degrees with respect to the moving direction with the moving direction of the arm body 101 of the telescopic arm 100 interposed therebetween. Further, every time the sensor 10 is out of the detection range, another feature portion is extracted and the detection of the displacement amount is continued. Then, the total amount of displacement is detected by adding the detected amount of displacement of each feature portion.

Further, the processing unit transmits the detected displacement amount in the X-axis direction and the detected displacement amount in the Y-axis direction to the calculation unit 20.
The sensor 10 corresponds to a feature specifying unit and a displacement amount detecting unit.

[1.2. Description of Configuration of Computing Unit 20]
The computing unit 20 calculates the movement amount of the telescopic arm 100 in the movement direction of the arm body 101 from the displacement amount in the X-axis direction and the displacement amount in the Y-axis direction sent from the sensor 10. Specifically, from the amount of displacement in the X-axis direction based on the angle (45 degrees) formed by the X-axis direction and the movement direction of the arm body 101 of the telescopic arm 100, the movement direction of the arm body 101 of the telescopic arm 100. The displacement amount of the arm body 101 of the telescopic arm 100 is calculated from the displacement amount in the Y axis direction based on the angle (45 degrees) formed by the Y axis direction and the moving direction of the arm body 101 of the telescopic arm 100. The amount of displacement in the movement direction is calculated, and the average value of these is calculated as the amount of movement of the arm body 101 of the telescopic arm 100 in the movement direction. Further, the arithmetic unit 20 stores the calculated movement amount of the telescopic arm 100 in the movement direction of the arm body 101 in the storage unit 30 or outputs the external output unit 40 to the outside.

The calculation unit 20 corresponds to a movement amount calculation unit.
[1.3. Description of Configuration of Storage Unit 30]
The storage unit 30 is used as a temporary storage area for various data and programs.

[1.4. Description of configuration of external output unit 40]
The external output unit 40 has a function of outputting various data to the outside.
[2. Effects of the embodiment]
(1) As described above, according to the movement amount measuring apparatus 1 of the present embodiment, the amount of displacement in the predetermined component direction of the characteristic portion of the object surface (for example, the surface 101a of the arm body 101 of the telescopic arm 100) is set to the predetermined amount. Since it is converted into a displacement amount in the measurement direction and a technique for identifying a characteristic part from the surface of the object is used for this purpose, the measurement object is not limited and the measurement length is not limited. In addition, the method for identifying a characteristic portion from the surface of the object as described above is not easily influenced by the material and surface state of the measurement target.

  Therefore, according to the movement amount measuring apparatus 1 of the present embodiment, the measurement target and the measurement length are not limited, and the object to be measured moves in a predetermined measurement direction regardless of the material and surface state of the measurement target. Can be measured with high accuracy.

  (2) Further, according to the movement amount measuring apparatus 1 of the present embodiment, the average value of the displacement amount in the measurement direction of the object calculated based on each component direction is used as the movement amount in the measurement direction of the object. Even if a measurement error or failure occurs in one direction, it can be supplemented by the other, and the amount of movement of the object in the measurement direction can be measured with higher accuracy.

  (3) Moreover, according to the movement amount measuring apparatus 1 of the present embodiment, the two component directions (X-axis direction and Y-axis direction) constitute a set, and are set to be equiangular across the measurement direction. Therefore, the displacement amount in each component direction can be set to the same value.For example, the average value of the displacement amount in the measurement direction calculated based on the displacement amount in each component direction is the movement amount of the object in the measurement direction. By doing so, the amount of movement of the object in the measurement direction can be measured with higher accuracy.

  (4) Furthermore, according to the movement amount measuring apparatus 1 of the present embodiment, since the two component directions constituting the set are set to be at an equal angle of 45 degrees across the measurement direction, the respective component directions It can be expected that the reliability or accuracy is improved by the movement amount calculated in (1).

  (5) Moreover, according to the movement amount measuring apparatus 1 of the present embodiment, since the two component directions (X-axis direction and Y-axis direction) are set on the same plane as the measurement direction, a measurement error in a certain direction. The effect of complementing in other directions is enhanced.

[3. Other Embodiments]
As mentioned above, although one Embodiment of this invention was described, this invention is not limited to the said embodiment, It is possible to implement in the following various aspects.

  (1) In the above embodiment, the component direction (X-axis direction and Y-axis direction) is set to a direction different from the measurement direction (movement direction of the arm body 101 of the telescopic arm 100), but this is not limitative. Instead, the component direction may be set in the same direction as the measurement direction. In the above embodiment, two component directions (X-axis direction and Y-axis direction) are set. However, the present invention is not limited to this, and the number of component directions may be one (only the X-axis direction) or three. That's all.

4 and 5 show examples in which one component direction is set in the same direction as the measurement direction.
Even in this configuration, the displacement amount in the predetermined component direction of the characteristic portion of the object surface is converted into the displacement amount in the predetermined measurement direction, and for this purpose, the characteristic portion is specified from the surface of the object. Since the method is the same, the measurement target is not limited and the measurement length is not limited. In addition, the method for identifying a characteristic portion from the surface of the object as described above is not easily influenced by the material and surface state of the measurement target. Therefore, the measurement target and the measurement length are not limited, and the amount of movement of the object to be measured in the predetermined measurement direction can be accurately measured regardless of the material and surface state of the measurement target.

  (2) In the above embodiment, there is one set of component directions (X-axis direction and Y-axis direction). However, the present invention is not limited to this, and a plurality of sets of component directions may exist (for example, X (Axial direction, Y-axis direction, X′-axis direction and Y′-axis direction).

This example will be described with reference to FIGS.
The movement amount measuring device 3 is different from the movement amount measuring device 1 in that it includes two sensors 10A and 10B (see FIG. 6).

  The sensors 10A and 10B have the same configuration as that of the sensor 10, and detailed description thereof is omitted here. The detailed description of the calculation unit 20, the storage unit 30, and the external output unit 40 included in the movement amount measuring device 3 is also omitted here.

  Further, as illustrated in FIGS. 7 and 8, the X axis and the Y axis of the sensor 10 </ b> A are on the same plane so that the movement direction of the arm body 101 of the telescopic arm 100 is 45 degrees with respect to the movement direction. Set to In addition, the X ′ axis and the Y ′ axis of the sensor 10B are 45 degrees with respect to the moving direction of the arm body 101 of the telescopic arm 100, and are on the same plane so as to face the X axis and the Y axis. Set to

  The computing unit 20 then sends the displacement amount in the X-axis direction and the displacement amount in the Y-axis direction sent from the sensor 10A, the displacement amount in the X′-axis direction sent from the sensor 10B, and the displacement in the Y′-axis direction. From the displacement amount, the movement amount of the telescopic arm 100 in the movement direction of the arm body 101 is calculated. Specifically, from the amount of displacement in the X-axis direction based on the angle (45 degrees) formed by the X-axis direction and the movement direction of the arm body 101 of the telescopic arm 100, the movement direction of the arm body 101 of the telescopic arm 100. The displacement amount of the arm body 101 of the telescopic arm 100 is calculated from the displacement amount in the Y axis direction based on the angle (45 degrees) formed by the Y axis direction and the moving direction of the arm body 101 of the telescopic arm 100. The amount of displacement in the movement direction is calculated, and based on the angle (45 degrees) between the X′-axis direction and the movement direction of the arm main body 101 of the telescopic arm 100, the amount of displacement of the telescopic arm 100 is calculated from the amount of displacement in the X′-axis direction. The amount of displacement in the moving direction of the arm body 101 is calculated, and the amount of displacement in the Y′-axis direction is calculated based on the angle (45 degrees) between the Y′-axis direction and the moving direction of the arm body 101 of the telescopic arm 100. Displacement amount in the moving direction of the arm body 101 of the telescoping arms 100 is calculated and the amount of movement in the moving direction of the arm body 101 of the telescoping arms 100 calculates the average value thereof.

With this configuration, it is expected that the reliability or accuracy can be further improved by the amount of movement calculated for each set, compared to the case where there is one set in the component direction.
In addition, since the two component directions are set to oppose each other, even if a measurement error occurs in one set, the other set can be supplemented, and the amount of movement of the object in the measurement direction can be improved with higher accuracy. Can be measured.

DESCRIPTION OF SYMBOLS 1,3 ... Movement amount measuring apparatus 10, 10, 10A, 10B ... Sensor, 20 ... Calculation part, 30 ... Memory | storage part, 40 ... External output part, 100 ... Telescopic arm, 101 ... Arm main body, 101a ... Surface of arm main body

Claims (9)

A moving amount measuring device for measuring a moving amount by which an object moves in a predetermined measuring direction,
Feature identifying means for identifying a characteristic part from the surface of the object;
A displacement amount detecting means for detecting a displacement amount in which the feature portion specified by the feature specifying means is displaced in a predetermined component direction as the object moves;
A movement amount calculation means for converting the displacement amount in the component direction detected by the displacement amount detection means into a displacement amount in the measurement direction, and using the converted displacement amount in the measurement direction as the movement amount; ,
A moving amount measuring apparatus comprising: In the movement amount measuring apparatus according to claim 1,
The movement amount measuring apparatus, wherein the component direction is set in the same direction as the measurement direction. In the movement amount measuring apparatus according to claim 1,
The component direction is set to a direction different from the measurement direction,
The movement amount calculation means converts the displacement amount in the component direction detected by the displacement amount detection means into a displacement amount in the measurement direction based on an elevation angle formed by the measurement direction and the component direction. The amount of movement in the measuring direction is used as the amount of movement. In the movement amount measuring apparatus according to claim 3,
A movement amount measuring apparatus, wherein there are a plurality of component directions. In the movement amount measuring apparatus according to claim 4,
Two of the plurality of component directions constitute a set, and are set so as to be equiangular across the measurement direction. In the movement amount measuring apparatus according to claim 5,
The movement amount measuring apparatus is characterized in that the two component directions constituting the set are set to have an equal angle of 45 degrees across the measurement direction. In the movement amount measuring apparatus according to any one of claims 5 and 6,
A movement amount measuring apparatus, wherein there are a plurality of sets of the component directions. In the movement amount measuring apparatus according to claim 7,
Two sets of the component directions of the plurality of sets are set so as to face each other. In the movement amount measuring apparatus according to any one of claims 3 to 8,
The component direction is set on the same plane as the measurement direction.

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