JP4338657B2 - Moving body overturn prevention device, method for supporting moving body, and program - Google Patents

Description

  The present invention relates to an apparatus for preventing a moving body including a humanoid robot and a biped walking robot, a method for supporting the moving body, and a program for causing a computer to execute the method.

JP 2004-90126 A JP 2004-267544 A

  Patent Document 1 connects an upper part of a mobile robot to a lower end portion of a wire wound around a hoist that runs along a running rail installed above the mobile robot so as to be freely wound and wound. In the method for preventing the mobile robot from falling over, the hoist is moved in cooperation with the wire through the wire, the mobile robot is moved in two axial directions, and the hoist is moved by the movement detection signal or the movement setting signal of the mobile robot. A mobile robot that is moved in cooperation with a hoist through a wire, following the movement of the mobile robot, can be moved in a coordinated manner without applying unnecessary external force to the mobile robot. At the same time, it is possible to accurately predict the fall of the mobile robot and prevent the mobile robot from falling. The fall prevention method and apparatus of a mobile robot is disclosed that.

  Japanese Patent Application Laid-Open No. 2004-228688 discloses a device that enables a hook hanging position to be moved without changing a length from a reel center of a moving unit to a tip of a hook in a movable one-point hanging device.

  However, all of the above conventional techniques have a structure in which the take-up reel moves in the horizontal direction and the hook is wound up with the reel in the height direction. These structures are classical X-axis and Y-axis horizontal movement and Z-axis winding vertical movement control.

  In performing a humanoid robot that performs bipedal autonomous movement (walking, bending, bowing, stair climbing, etc.), the current operating conditions are harsh and the operation is unstable, and even if there is dust on the floor, it falls down Sometimes. In order to prevent the robot from toppling over, it is necessary to make the crane follow the movement of the robot to prevent the robot from toppling over.

  The conventional techniques described in Patent Documents 1 and 2 are classic X-axis and Y-axis horizontal movement and Z-axis hoisting vertical movement control type cranes. When a high-tech robot such as a humanoid robot is to be performed, a device made by such a classic control method is not suitable for a high-tech robot because some customers do not like it. A fall prevention device control system is required.

  In addition, the classic X-axis and Y-axis horizontal movement and Z-axis hoisting vertical movement control systems require large drive rails on the ceiling like so-called overhead cranes. Structurally, such overhead crane-like devices may not be installable.

  The present invention is a control system that can meet such demands.

  The present invention has been made in order to solve the above-mentioned problems. The present invention uses at least three wires by utilizing the fact that an arbitrary position coordinate XYZ in a space on the stage can be calculated if the distance from three fixed points is known. It is controlled and does not require a large drive rail or the like on the ceiling, and it is an advanced and innovative one that has never existed before. Specifically, it is a system that controls the length of three wires using three points on the ceiling as reference points, and controls the spatial movement of the wire intersections in three dimensions of XYZ at the same time. The tracking object (moving body) such as a humanoid robot is recognized by processing the image acquired by the unit, the XYZ deviation from the imaging unit is obtained, and the tracking control to the object is performed.

The overturn prevention device for a moving body according to the present invention includes at least three wire expansion / contraction mechanisms for feeding and drawing a wire, and the plurality of wire expansion / contraction mechanisms are provided at different positions, respectively.
Further, an intersection point connected to a plurality of wires from the plurality of wire expansion and contraction mechanisms, an imaging unit provided at the intersection point and photographing the lower side, one end connected to the intersection point, and the other end to the intersection point A moving body lifting wire connected to the moving body located below the intersection, and a control unit for controlling the plurality of wire expansion and contraction mechanisms,
The control unit obtains a relative positional relationship between the moving body and the imaging unit based on the image of the moving body captured by the imaging unit, and all or part of the plurality of wire expansion / contraction mechanisms based on the obtained relative positional relationship. To control the intersection portion to follow the movement of the moving body.

  Preferably, the connection positional relationship of the plurality of wires from the plurality of wire expansion / contraction mechanisms to the intersection portion is similar to the positional relationship of the plurality of wire expansion / contraction mechanisms.

The controller is
Based on the image of the moving body acquired by the imaging unit, the center of gravity position of the moving body or a part of the image is obtained, and the distance from the imaging unit to the moving body given in advance and the position of the imaging unit Based on the magnification, a relative horizontal positional relationship (dx, dy) between the imaging unit and the moving body is calculated,
The wire length from each of the plurality of wire expansion / contraction mechanisms to the intersection and the predetermined start point coordinates (X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3) of each wire Based on the above, the coordinates (Xe, Ye, Ze) of the imaging unit are calculated,
Add the relative horizontal positional relationship (dx, dy) to the calculated coordinates (Xe, Ye) to obtain the target position coordinates (Xd, Yd, Zd),
Based on the target position coordinates (Xd, Yd, Zd) and the start point coordinates (X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3) of each wire, the target position coordinates (Xd, Yd, Zd) to calculate the wire length of each wire
The plurality of wire expansion / contraction mechanisms are controlled such that the wire lengths of the wires from the plurality of wire expansion / contraction mechanisms to the intersections are respectively calculated line lengths.

  The control unit calculates a distance dz from the imaging unit to the moving body based on a size of the image of the moving body acquired by the imaging unit and a predetermined magnification of the imaging unit, and the distance dz The plurality of wire expansion and contraction mechanisms may be controlled so that the distance between the moving body and the imaging unit is constant based on the Z coordinate Ze of the imaging unit.

  The control unit includes coordinates of the imaging unit (Xe, Ye, Ze), target position coordinates (Xd, Yd, Zd), a relative horizontal positional relationship (dx, dy), and from the imaging unit to the moving body. When all or part of the distance dz exceeds a predetermined range, a stop command or a deceleration command may be sent to the moving body.

  When the control unit determines that the moving body has fallen based on the image of the moving body acquired by the imaging unit, or receives a signal indicating the falling of the moving body from the outside In this case, the plurality of wire expansion / contraction mechanisms may be controlled so as to stop following the intersection or raise the intersection.

The present invention includes at least three wire expansion / contraction mechanisms for feeding and drawing the wire, and the plurality of wire expansion / contraction mechanisms are provided at different positions, respectively.
Further, an intersection point connected to a plurality of wires from the plurality of wire expansion and contraction mechanisms, an imaging unit provided at the intersection point and photographing the lower side, one end connected to the intersection point, and the other end to the intersection point A moving body lifting wire connected to the moving body located below the intersection, and a method of supporting the moving body by a device comprising:
Based on the image of the moving body acquired by the imaging unit, the center of gravity position of the moving body or a part of the image is obtained, and the distance from the imaging unit to the moving body given in advance and the position of the imaging unit Calculating a relative horizontal positional relationship (dx, dy) between the imaging unit and the moving body based on a magnification;
The wire length from each of the plurality of wire expansion / contraction mechanisms to the intersection and the predetermined start point coordinates (X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3) of each wire Calculating the coordinates (Xe, Ye, Ze) of the imaging unit based on
Adding a relative horizontal positional relationship (dx, dy) to the calculated coordinates (Xe, Ye) to obtain target position coordinates (Xd, Yd, Zd);
Based on the target position coordinates (Xd, Yd, Zd) and the start point coordinates (X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3) of each wire, the target position coordinates (Xd, Yd, Calculating the wire length of each wire at Zd);
Controlling the plurality of wire expansion / contraction mechanisms such that the wire lengths of the wires from the plurality of wire expansion / contraction mechanisms to the intersections are respectively calculated line lengths.

The present invention is a program for causing a computer to execute the above method.
The program according to the present invention is recorded on a recording medium, for example.
Examples of the medium include EPROM device, flash memory device, flexible disk, hard disk, magnetic tape, magneto-optical disk, CD (including CD-ROM and Video-CD), DVD (DVD-Video, DVD-ROM, DVD- RAM), ROM cartridge, RAM memory cartridge with battery backup, flash memory cartridge, nonvolatile RAM cartridge, and the like.

  A medium is a medium in which information (mainly digital data, a program) is recorded by some physical means, and allows a processing device such as a computer or a dedicated processor to perform a predetermined function. is there.

  Large biped robots (moving bodies) that are currently being implemented are basically products that can be biped, but there is no possibility of falling down due to some kind of trouble. In the event of a fall, damage to the device itself becomes a problem. Therefore, it is preferable to provide a mechanism for recognizing and preventing the state when the robot is about to fall down. Actually, it is considered most desirable to hang the wire attached to the robot body from above when it falls over. Considering the wire's ceiling-side suspension as a fixed position, for robots, walking by pulling the wire will receive external force, which may hinder balance control for walking. It was also found that even if the suspension base (device) is movable in the horizontal direction, the passive system that is pulled as the robot walks causes problems as well as the suspension base fixation. In that respect, according to the present invention, the above problems do not occur.

  Hereinafter, a control system for preventing the mobile body from overturning according to the embodiment of the present invention will be described. The embodiment of the present invention is a system in which three points on the ceiling are used as reference points, the lengths of three wires are controlled, the intersections of the wires are controlled in three dimensions of XYZ, and the space is moved appropriately.

  FIG. 1 is an explanatory diagram showing the overall configuration of the present system and the state of use thereof. This system is installed in a museum or the like, for example, and can experience a simulated operation of a robot. A robot (moving body) 7 freely walks on a stage S provided in a large hall such as a museum, and holds a doll or picks up an article and places it in a designated place as required. These actions are a kind of demonstration. For this reason, the movement range of the robot 7 is limited only within the circular stage S. Along with this, the working range of this system is also limited, but this is not a problem in the above applications.

  Three wire expansion / contraction mechanisms 1 to 3 are provided outside the stage S so that the robot 7 can move in the entire range of the stage S. The wire expansion / contraction mechanisms 1 to 3 are installed so that the angle between adjacent lines connecting these and the center of the stage S is approximately 120 degrees (equal intervals). The present invention is not limited to such an angle, but 120 degrees is preferable in order to perform stable control. The height of the wire expansion / contraction mechanisms 1 to 3 is a position sufficiently higher than the robot 7 (and is sufficiently high not to touch the audience, for example, 3 to 4 m).

  The wire expansion / contraction mechanisms 1 to 3 can extend and retract the wires 121, 221, and 321, respectively (for example, including a reel for winding the wire). The ends of the wires 121, 221 and 321 are connected to the disk 4. The disk 4 may be called a wire intersection. The position and height of the disk 4 can be adjusted by appropriately extending or retracting the wires 121, 221, and 321 with the wire expansion / contraction mechanisms 1 to 3. For example, if an appropriate tension is applied by winding the wires 121, 221, and 321, the position of the disk 4 becomes higher (up to the attachment position of the wire expansion / contraction mechanisms 1 to 3), and conversely, the wires 121, 221, and 321 are fed out. When loosened, the position of the disk 4 is lowered (can be lowered until the stage S is touched). Further, if a part of the wires 121, 221 and 321 is wound and the rest is fed out, the disk 4 moves toward the wound wire expansion / contraction mechanism.

  Robot lifting wires 61 and 62 are attached to the disk 4. The other end is connected to the robot 7 and functions to support it when the robot 7 is about to fall. As described above, since the position of the disk 4 can be controlled, it can follow as long as the robot 7 moves in the stage S. In addition, since the height of the disk can be controlled, the robot 7 can also follow movements such as bending, sitting, and standing.

  In the example of FIG. 1, the movement of the robot 7 can be operated by a cockpit C provided in a part of the stage S. The disk 4 of this system automatically follows the robot 7 along with the movement. Specific processing will be described later.

  FIG. 2 shows a perspective view of the disk 4. As described above, the three wires 121, 221 and 321 and the robot lifting wires 61 and 62 are combined. An imaging unit 51 such as a digital camera is provided at the approximate center of the disk 4 facing downward. The imaging unit 51 is for acquiring an image within the shootable range A, and is particularly for acquiring an image of the robot 7. Since the robot lifting wires 61 and 62 are coupled to the disk 4, the robot 7 is always positioned under the disk 4. However, when the position of the disk 4 is low, the robot lifting wires 61 and 62 are slack, and the robot 7 can be separated from the disk 4 somewhat.

  FIG. 3 shows a block diagram of a system according to the embodiment of the present invention. Reference numeral 51 denotes the above-described imaging unit, 51a denotes an image transmission unit that transmits an image acquired by the imaging unit 51 wirelessly, 52 denotes an image reception unit, and 53 denotes an image processing unit that processes the received image (specific processing contents are 100 is a CPU, and 1001 is a command pulse calculation unit that outputs a servo motor command signal (command pulse) under the control of the CPU.

  This system includes three wire expansion / contraction mechanisms 1, 2, and 3 and controls them independently.

  For the wire expansion / contraction mechanism 1, a first servo motor control unit 1011, a first servo motor 11, a first wire extension unit 12, and a first line length detector 13 are provided. The first servo motor 11, the first wire extension unit 12, and the first line length detector 13 constitute the wire expansion / contraction mechanism 1.

  For the wire expansion / contraction mechanism 2, a second servo motor control unit 1012, a second servo motor 21, a second wire extension unit 22, and a second line length detector 23 are provided. The second servo motor 21, the second wire extension unit 22, and the second line length detector 23 constitute the wire expansion / contraction mechanism 2.

  For the wire expansion / contraction mechanism 3, a third servo motor control unit 1013, a third servo motor 31, a second wire extension unit 32, and a third wire length detector 33 are provided. The third servo motor 31, the second wire extension unit 32, and the third wire length detector 33 constitute the wire expansion / contraction mechanism 3.

  The servo motor control unit, the servo motor, and the wire extension unit are all known, and take up or feed out a wire having a specified length according to a control signal. The wire length detector is also known and detects the wire length of the wire being fed out (for example, the wire length from the wire expansion / contraction mechanism to the disk 4 is detected in FIG. 1).

FIG. 4 is a process flowchart of a method according to an embodiment of the invention.
FIG. 5 is an explanatory diagram of a coordinate system for explaining the method according to the embodiment of the invention.
FIG. 6 is a diagram for explaining a method according to an embodiment of the invention.

  The processing according to the embodiment of the invention will be described with reference to FIGS.

S1: In FIG. 4, the image of the robot or a part thereof is acquired by the imaging unit 51. For example, the robot 7 exists in the image P as shown in FIG. Note that the coordinate axes X ′ and Y ′ and symbols attached thereto are shown to aid understanding, and may not be shown in the actual image P. The X ′, Y ′, Z ′ coordinate system is centered on the imaging unit 51. The X ′, Y ′, and Z ′ coordinate systems are obtained by moving the XYZ coordinate system of FIG. 5, but each axis, that is, the X ′ axis and the X axis, the Y ′ axis and the Y axis, and the Z ′ axis and the Z axis. The axes are preferably parallel and the coordinate system is not rotated. In this way, it is not necessary to correct the rotation of the imaging unit 51.

Next, step S2 for calculating the relative horizontal positional relationship (dx, dy) between the imaging unit 51 and the robot 7 and the step for calculating the distance dz from the imaging unit 51 to the robot 7 will be described. In the following description, it is described that the processing is performed in the order of S2 to S3. However, this is an order for convenience of description, and it is not actually necessary to order S2 and S3.
S2: The relative horizontal positional relationship (dx, dy) between the imaging unit and the robot is calculated based on the position of the center of gravity of the image of the robot or a part thereof, the distance from the imaging unit to the robot, and the magnification of the imaging unit.

  In this system, assuming that the three wire expansion / contraction mechanisms 1 to 3 are installed on the same horizontal plane and the robot 7 is suspended vertically from the disk 4, the horizontal direction is the XY axis and the vertical direction is the Z axis as shown in FIG. It will be expressed as FIG. 5A is a top view of the system, and FIG. 5B is a front view. In FIG. 5B, the wire expansion / contraction mechanism 3 is not shown.

  Here, the triangles (X11, Y11, Z11) (X21, Y21, Z21) (X31, Y31, Z31) formed by the connection positions of the wires 121, 221 and 321 to the intersections 4 of the wires are replaced by the respective wires. Mapping of start point coordinates (X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3) to the X, Y plane (X1, Y1), (X2, Y2), (X3, Y3) If the shape is similar to the triangle formed by, the imaging unit 51 of the intersection 4 can always be directed in a certain direction. In other words, the imaging direction of the imaging unit 51 installed at the intersection 4 of the wires of the triangles (X11, Y11, Z11) (X21, Y21, Z21) (X31, Y31, Z31) always faces a certain direction. Thereby, the coordinate axis direction of the captured image of the imaging part 51 can always be made constant with the coordinate axes of the three wire expansion / contraction mechanisms 1 to 3. However, even if they are not completely similar, they can be directed in the same direction depending on the error. Further, the weight of the wire intersection 4 is sufficiently larger than the weight of the wire, and the triangle of the wire intersection 4 is defined as the starting point coordinates (X1, Y1, Z1), (X2, Y2, Z2), (X3, If the mapping of X3, Y3) to the X, Y plane (X1, Y1), (X2, Y2), (X3, Y3) is sufficiently smaller than the triangle formed, the height of the intersection 4 of the wires Even if the spatial coordinates including the angle change, the wire intersection point 4 is suspended substantially horizontally, and the imaging unit 51 can always face downward and keep the Z-axis direction of the imaging unit 51 constant.

  An image of the robot or a part of the robot is captured, the position of the center of gravity of the image, the distance from the imaging unit to the robot (the distance is set in advance, shorter than the length of the robot lifting wires 61 and 62), and the imaging unit Based on the magnification of 51, the relative horizontal positional relationship (dx, dy) between the imaging unit 51 and the robot in the X ′, Y ′, Z ′ coordinate system is calculated (FIG. 6A). If the distance to the robot and the magnification of the imaging unit 51 are constant, the horizontal positional relationship (dx, dy) can be determined in advance for each pixel on the image P. Alternatively, the pixel position on the image P can be converted into a horizontal positional relationship (dx, dy) based on the distance to the robot and the magnification of the imaging unit 51. Information about the reference distance to the robot and the magnification of the imaging unit 51 is given to the image processing unit 53 and the CPU 100 in advance. In this sequence, an accurate distance in the Z direction is not obtained, and the calculation is based on a distance assumed in advance between the imaging unit 51, that is, the camera and the robot 7. For this reason, although dx and dy are strictly inaccurate, they can be sufficiently used as approximate values, and if they are controlled to move in that direction, they converge to their destinations.

S3: Based on the size of the image and the magnification of the imaging unit, a deviation dz from the reference distance from the imaging unit to the robot is calculated. (The deviation may be obtained from the angle of the subject with the two imaging units) When the robot lifting wires 61 and 62 are tight, dz can be obtained from the length and (dx, dy) (FIG. 6 (b)). Similarly to S4, it is also possible to calculate the deviation dz from the reference distance from the imaging unit to the robot by calculating backward from the image size and the magnification of the imaging unit. Even if the deviation dz is not used, the following processes of S4 to S7 are possible.

S4: Based on the wire lengths W1e, W2e, W3e of each wire and the starting point coordinates (X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3) of each wire, the coordinates of the imaging unit ( Xe, Ye, Ze) is calculated.

  The wire lengths of the wires 121, 221 and 321 are W1e, W2e and W3e, respectively, and the starting point coordinates (X1, Y1, Z1) and (X2, Y2, Z2) of the respective wires in the extending portions 12, 22, and 32 of the wires. , (X3, Y3, Z3), the coordinates (Xe, Ye, Ze) of the imaging unit 51 attached to the wire intersection point 4 can be calculated. In order to facilitate understanding of the model, if the tension of the wires 121, 221 and 321 is infinite, and the weight of the wire intersections 4 and the wires 61 and 62 is ignored, the wire intersections 4 are expanded and contracted. It can be calculated from the mechanisms 1 to 3 as an intersection of circles having radii W1e, W2e, and W3e (assuming that Ze = 0). Even in the real three-dimensional space, the spheres having radii W1e, W2e, W3e from the start point coordinates (X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3) of the wire are similarly obtained. The coordinates (Xe, Ye, Ze) of the imaging unit 51 attached to the intersection part 4 can be calculated as an intersection.

Same as S5: (dx, dy) calculated in S2 is added to the calculated coordinates Xe, Ye, and the target position coordinates (Xd, Yd, Zd) for the wire intersection point 4 to move right above the robot Ask for.
At this time, if a constant value is substituted for Zd (when Zd is controlled to be a constant value), the imaging unit 51 follows from the ceiling or the floor so as to always have a constant height.
Further, when the deviation dz in the Z-axis direction is added to Ze and substituted for Zd, the robot follows the robot so as to be a constant distance. Further, various controls such as a control in which dz is added to a constant value and substituted for Zd are possible.

  The target position coordinates (Xd, Yd, Zd) are obtained by expressing dx and dy in FIG. 6 in the XYZ coordinate system in FIG. When the height of the wire intersection point 4 does not change because the posture of the robot 7 does not change, Zd = Ze.

S6: Based on (Xd, Yd, Zd) and the starting point coordinates (X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3) of each wire, the target position coordinates (Xd, Yd, The line lengths W1c, W2c, W3c (the line length of the destination) of each wire at Zd) are calculated. The distance between two coordinates can be calculated with a simple mathematical formula.

S7: The servo motor is controlled by the CPU 100 so that each wire becomes W1c, W2c, and W3c (wire length of the destination).

  By the processes of S1 to S7, the wire intersection point 4 can be made to follow the movement of the robot 7. As long as the robot 7 moves within a certain range, the robot 7 can be supported by the robot lifting wires 61 and 62 when the robot 7 is about to fall, and the robot 7 can be prevented from falling.

  In the processing of S1 to S7, if Zd is always a constant value, it is possible to follow at a constant height from the reference in the vertical direction.

  On the other hand, follow-up control that makes the distance of the imaging unit 51 constant even when the height of the robot 7 fluctuates using dz and Ze is possible. For example, if dz is negative (if the moving body rises and approaches the intersection point 4), Ze is increased by that amount (the intersection point 4 is raised). If dz is positive, Ze is decreased. (However, plus and minus are reversed according to the definition of the Z axis)

  Further, the value of Zd may be controlled from the outside in accordance with operations such as up and down stairs, bowing, bending and stretching.

  Further, when the robot 7 exceeds a certain range due to (Xe, Ye, Ze) or (Xd, Yd, Zd), (dx, dy) or dz, a stop command or a deceleration command can be issued to the robot. For example, the area of the stage S in FIG. 1 is defined in advance in the XYZ coordinate system, and a stop command or a deceleration command is issued to the robot when (Xe, Ye) or (Xd, Yd) deviates from the area. Alternatively, when (dx, dy) is larger than a predetermined size (when the moving speed of the robot 7 becomes too high), a stop command or a deceleration command is issued to the robot. Alternatively, when dz becomes smaller than a predetermined value (when the robot is too close to the disk 4), a stop command or a deceleration command is issued to the robot.

  The determination of the fall of the robot 7 can be made by various methods such as image recognition, a signal from the robot 7, an external imaging unit (not shown), a sensor for detecting the tension of the robot lifting wires 61 and 62, and the like. Sometimes the system can be stopped or raised to lift the robot 7. In order to determine the fall of the robot 7 based on the image acquired by the image unit 51, for example, it is determined that the size of the image of the robot 7 is larger than a predetermined threshold. When the robot 7 falls down, it becomes sideways, and as a result, the area of the image of the robot 7 increases remarkably. Also, a plurality of light emitting elements such as LEDs are provided on the top of the robot 7, and when the robot 7 is imaged and binarized, an image surrounded by the plurality of light emitting elements is determined to fall over a certain area. May be.

  Since the present invention is a system that controls the spatial movement of three wire XYZ at the same time in three dimensions of XYZ using a three-wire winding device with three points on the ceiling as a reference point, a large drive rail or the like is provided on the ceiling. It can be installed in places where it was impossible to install.

  Moreover, when the intersection of the three thin wires is shaped like a disk, it seems as if the UFO is flying over the robot's head, and it can provide a novel and innovative fall prevention device that is balanced with a futuristic humanoid robot.

  In addition, according to the present invention, it can be installed relatively easily and in a space-saving manner in hospitals and rehabilitation centers where a large drive rail or the like could not be attached to the ceiling, and the lifting torque can be easily fixed when using a servo motor. It is possible to eliminate the slack of the robot lifting wires 61 and 62 and control the person to float slightly with a constant torque. In that case, it is possible to reduce the burden of weight on the legs and to provide a system that can freely walk and train in the room.

  In addition, paying attention to the reduction of human weight, it can also be applied as a lunar surface or as a simulated experience device for space swimming.

  In addition, the present invention is as if the UFO is flying as described above, and can be freely controlled by external control, and even if this device situation is utilized as a game device tailored to UFO, regardless of age or sex It can be enjoyed enough.

Also, the present invention is very quiet compared to the above-described overhead crane.
Further, according to the present invention, the above-mentioned overhead crane cannot cross three-dimensionally when a plurality of cranes are used in the same space, but this crane can cross.
The present invention is not limited to the above-described embodiment, and various modifications are possible within the scope of the invention described in the claims. For example, the four points on the ceiling are the four points. A wire winding device may be used. Two or more wires may be stretched on the winding drum. Needless to say, they are also included in the scope of the present invention.

1 is an overall view showing an outline of a system according to an embodiment of the invention. It is a perspective view which shows the disk (intersection part of a wire) which concerns on embodiment of invention. 1 is a block diagram of a system according to an embodiment of the invention. It is a process flowchart of the method which concerns on embodiment of invention. It is explanatory drawing of the coordinate system for demonstrating the method which concerns on embodiment of invention. It is a figure for demonstrating the method which concerns on embodiment of invention.

Explanation of symbols

1, 2, 3 Wire expansion / contraction mechanism 11, 21, 31 Servo motors 12, 22, 32 Wire extension parts 13, 23, 33 Wire length detectors 121, 221, 321 Wire 4 Disc (intersection part of wires)
51 Imaging unit 52 Image receiving unit 53 Image processing unit 61, 62 Robot lifting wire 7 Robot 100 CPU
1001 Command pulse calculation unit 10011, 10012, 10013 Servo motor control unit 1002 Man-machine interface 1003 Interface 10031 External controller

Claims (8)

Comprising at least three wire expansion / contraction mechanisms for paying out or drawing in the wire, and the plurality of wire expansion / contraction mechanisms are provided at different positions,
Further, an intersection point connected to a plurality of wires from the plurality of wire expansion and contraction mechanisms, an imaging unit provided at the intersection point and photographing the lower side, one end connected to the intersection point, and the other end to the intersection point A moving body lifting wire connected to the moving body located below the intersection, and a control unit for controlling the plurality of wire expansion and contraction mechanisms,
The control unit obtains a relative positional relationship between the moving body and the imaging unit based on the image of the moving body captured by the imaging unit, and all or part of the plurality of wire expansion / contraction mechanisms based on the obtained relative positional relationship. , And controls so that the intersection portion follows the movement of the moving body.   2. The overturning of the moving body according to claim 1, wherein the connection positional relationship of the plurality of wires from the plurality of wire expansion / contraction mechanisms to the intersection is similar to the positional relationship of the plurality of wire expansion / contraction mechanisms. Prevention device. The controller is
Based on the image of the moving body acquired by the imaging unit, the center of gravity position of the moving body or a part of the image is obtained, and the distance from the imaging unit to the moving body given in advance and the position of the imaging unit Based on the magnification, a relative horizontal positional relationship (dx, dy) between the imaging unit and the moving body is calculated,
The wire length from each of the plurality of wire expansion / contraction mechanisms to the intersection and the predetermined start point coordinates (X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3) of each wire Based on the above, the coordinates (Xe, Ye, Ze) of the imaging unit are calculated,
Add the relative horizontal positional relationship (dx, dy) to the calculated coordinates (Xe, Ye) to obtain the target position coordinates (Xd, Yd, Zd),
Based on the target position coordinates (Xd, Yd, Zd) and the start point coordinates (X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3) of each wire, the target position coordinates (Xd, Yd, Zd) to calculate the wire length of each wire
The moving body according to claim 1, wherein the plurality of wire expansion / contraction mechanisms are controlled such that the wire lengths of the wires from the plurality of wire expansion / contraction mechanisms to the intersections are respectively calculated line lengths. Fall prevention device.   The control unit calculates a distance dz from the imaging unit to the moving body based on a size of the image of the moving body acquired by the imaging unit and a predetermined magnification of the imaging unit, and the distance dz 4. The moving body according to claim 3, wherein the plurality of wire expansion and contraction mechanisms are controlled so that a distance between the moving body and the imaging section is constant based on a Z coordinate Ze of the imaging section. Fall prevention device.   The control unit includes coordinates of the imaging unit (Xe, Ye, Ze), target position coordinates (Xd, Yd, Zd), a relative horizontal positional relationship (dx, dy), and from the imaging unit to the moving body. The apparatus according to claim 3, wherein a stop command or a deceleration command is sent to the moving body when all or a part of the distance dz exceeds a predetermined range.   When the control unit determines that the moving body has fallen based on the image of the moving body acquired by the imaging unit, or receives a signal indicating the falling of the moving body from the outside 4. The apparatus according to claim 3, wherein the plurality of wire expansion and contraction mechanisms are controlled to stop following the intersection or raise the intersection. . Comprising at least three wire expansion / contraction mechanisms for paying out or drawing in the wire, and the plurality of wire expansion / contraction mechanisms are provided at different positions,
Further, an intersection point connected to a plurality of wires from the plurality of wire expansion and contraction mechanisms, an imaging unit provided at the intersection point and photographing the lower side, one end connected to the intersection point, and the other end to the intersection point A moving body lifting wire connected to the moving body located below the intersection, and a method of supporting the moving body by a device comprising:
Based on the image of the moving body acquired by the imaging unit, the center of gravity position of the moving body or a part of the image is obtained, and the distance from the imaging unit to the moving body given in advance and the position of the imaging unit Calculating a relative horizontal positional relationship (dx, dy) between the imaging unit and the moving body based on a magnification;
The wire length from each of the plurality of wire expansion / contraction mechanisms to the intersection and the predetermined start point coordinates (X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3) of each wire Calculating the coordinates (Xe, Ye, Ze) of the imaging unit based on
Adding a relative horizontal positional relationship (dx, dy) to the calculated coordinates (Xe, Ye) to obtain target position coordinates (Xd, Yd, Zd);
Based on the target position coordinates (Xd, Yd, Zd) and the start point coordinates (X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3) of each wire, the target position coordinates (Xd, Yd, Calculating the wire length of each wire at Zd);
Controlling the plurality of wire expansion / contraction mechanisms such that the wire lengths of the wires from the plurality of wire expansion / contraction mechanisms to the intersections are respectively calculated line lengths. Comprising at least three wire expansion / contraction mechanisms for paying out or drawing in the wire, and the plurality of wire expansion / contraction mechanisms are provided at different positions,
Further, an intersection point connected to a plurality of wires from the plurality of wire expansion and contraction mechanisms, an imaging unit provided at the intersection point and photographing the lower side, one end connected to the intersection point, and the other end to the intersection point A program for causing a computer to execute a method of supporting the moving body by a device including a moving body lifting wire connected to the moving body located below the intersection,
Based on the image of the moving body acquired by the imaging unit, the center of gravity position of the moving body or a part of the image is obtained, and the distance from the imaging unit to the moving body given in advance and the position of the imaging unit Calculating a relative horizontal positional relationship (dx, dy) between the imaging unit and the moving body based on a magnification;
The wire length from each of the plurality of wire expansion / contraction mechanisms to the intersection and the predetermined start point coordinates (X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3) of each wire Calculating the coordinates (Xe, Ye, Ze) of the imaging unit based on
Adding a relative horizontal positional relationship (dx, dy) to the calculated coordinates (Xe, Ye) to obtain target position coordinates (Xd, Yd, Zd);
Based on the target position coordinates (Xd, Yd, Zd) and the start point coordinates (X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3) of each wire, the target position coordinates (Xd, Yd, Calculating the wire length of each wire at Zd);
Controlling the plurality of wire expansion / contraction mechanisms such that the wire lengths of the wires from the plurality of wire expansion / contraction mechanisms to the intersections are respectively calculated line lengths.

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