JPS60232891A - Transport self-travelling car for cylindrical article - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a device for confirming the position and size of a target object to be grasped by a self-propelled vehicle that transports cylindrical objects unmanned.

[Conventional technology]

Conventionally, there has been a device of this type, as shown in FIG. 4, which uses image processing. In the figure, (1) is the target object, (2
) is a self-propelled vehicle, (3) and (4) are arms that are pivoted on the self-propelled vehicle (2) and have the function of rotating and grasping a target object, (5) are the wheels of the self-propelled vehicle, and (6) ) is the first antenna, (7) is the first
, (8) is a camera that photographs the target object (1), 00 is a second antenna, αD is a communication device, (I2 is a second control device, and (131 is an image processing computer).

Next, the operation will be explained. The self-propelled vehicle (2) is controlled by the second control device (12 commands, Tsushin ff1 (11), second antenna α0), first antenna (6) and first
is moved from the starting position in the direction of the target object (1) to be grasped, and further moved to a position where the camera (8) faces the target object (1) as shown in the figure. When you approach while receiving commands, arms (3), (4)
rotates and opens, and further the end face (1a) of the target object (1)
When the relative position of the arm (3), (4) to the gripping parts (6a), (4a) moves to an appropriate position, the image processing computer 0 uses the image taken by the camera (8) at this position.
3), the gripping parts (3a) and (4a) grasp the target object (
Arms (3), (4) in the direction approaching the end face (1a) of 1)
rotates to grip the target object (1), and the self-propelled vehicle (2) moves to a predetermined position according to a command.

Conventional devices for confirming the position of a target object to be gripped by a self-propelled vehicle were configured as described above, and by comparing the image taken by the camera with predetermined data, the gripping length of the target object can be determined. In order to calculate the distance between the self-propelled vehicle and the target object, it takes a long time to perform comparison calculations, and the equipment is expensive because it requires a complicated computer.

[Summary of the invention]

This invention was made in order to eliminate the drawbacks of the conventional ones as described above, and it does not rely on means for detecting the grip length of the target object and the distance between the self-propelled vehicle and the target object using images taken by a camera. To provide a self-propelled vehicle for transporting cylindrical objects, which is equipped with a grasped object detection device that can shorten detection time and is inexpensive by emitting ultrasonic waves to a target object and utilizing the reflected waves.

[Embodiments of the invention]

An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a side view of a target object (1) and a self-propelled vehicle (2) facing each other, and FIG. 2 is a top view of the same.

In both figures, (9a) and (9b) are ultrasonic distance measuring devices, which are arranged at two locations on the horizontal line with respect to the running surface of the self-propelled vehicle (2). Portions with other symbols are the same as those described in the related art.

The self-propelled vehicle (2) receives instructions from the second control device (+21),
The target object (
1) and stop. Figure 2 shows the stop position of this self-propelled vehicle (2), and then the control device (self-propelled vehicle 12 with a command of one side) moves to the left along the target object (1) and moves the ultrasonic distance The target object (
When continuously measuring the distance between 1) and the self-propelled vehicle (2), the ultrasonic distance measuring device (9a) suddenly stops at the left end position facing the target object (1) due to a sudden change in the detected value. do. Simultaneously with this stop, the self-propelled vehicle (2) moves to the right along the target object (1), and only the ultrasonic distance measuring device (9b) detects the target object (1).
) and the self-propelled vehicle (2), the detected value suddenly changes and the vehicle stops at the right end face position of the target object (1), similarly to the above. As the self-propelled vehicle (2) moves left and right along the target object (2) as described above, the second control device a2 detects and recognizes the length between both end faces of the target object (1), and (
2) to the left and stop at the center of the target object (1), grip the target object (1) while rotating the arms (3) and (4) horizontally, then vertically The target object (1) is moved upward, and the self-propelled vehicle (2) is moved to a predetermined position.
) to run.

In the above example, an example was explained in which a self-propelled vehicle was moved left and right along the target object in order to measure the length between both end faces of the target object. If the device (9) is installed in a self-propelled vehicle so that it can move vertically, the detection fik will suddenly change at the position where the ultrasonic wave is emitted in the tangential direction to the circumferential surface of the target object (1), so this detection amount The diameter of the cylindrical object (1) can be measured by the upper and lower limit positions in the vertical direction where the value suddenly changes. In this way, not only the gripping length of the target object (1) but also the overall size can be
This is a necessary and appropriate device for the control device a to recognize.

In the above embodiment, two ultrasonic measuring devices (9) were installed, and each measured the position of the left and right end faces of the target object (1), but the self-propelled vehicle (1) If the device has no problem even if the distance traveled is slightly longer,
The number of ultrasonic measurement devices (9) may be one, and the same effects as in the embodiments can be achieved.

〔Effect of the invention〕

As described above, according to the present invention, ultrasonic waves are emitted to a target object, the distance between the self-propelled vehicle and the target object, and the size of the target object are detected and recognized by the control device, and this detection and instigation are performed. Since the target object is gripped by commands from a control device, it is possible to obtain a device for transporting a cylindrical target object using a self-propelled vehicle, which is cheaper and takes less time to operate than a device that uses image processing using a computer. effective.

[Brief explanation of the drawing]

Fig. 1 is a side view showing one embodiment of the present invention, Fig. 2 is a top view of Fig. 1, Fig. 6 is a side view showing another embodiment of the invention, and Fig. 4 is a conventional cylindrical shape. FIG. 3 is a side view showing a state in which a target object is gripped by a self-propelled vehicle. In the figure, (1) is the target object, (2) is the self-propelled vehicle, and (3
), (4) is the arm, (5) is the wheel, (6) is the first antenna, (7) is the first control device, (8) is the camera, (9)
is an ultrasonic distance measuring device, 0 [is a second antenna, α]) is a communication device, a2 is a second control device, and (13) is an image processing computer. Note that the same reference numerals in the figures indicate the same or equivalent parts. Agent Patent Attorney Akira Ki Uchitama Figure 1 Figure 2 Figure 3 Figure 5 5 Figure 4 ■ 4゛0 Procedural amendment (voluntary) Hayabusa 1988 7 Jl 30 ++ Commissioner of the Japan Patent Office 1, Indication of the case Retention J No. 59-85525 2, Title of invention: Self-propelled vehicle for transporting cylindrical objects, 3, Person making the amendment, 4, Agent, 5, 1% Ff of the specification to be amended. 6. Details of the amendments are as shown in the attached sheet. Attached Claims (Amendment) [Drive wheels to which power is transmitted, arms that grip the target object,
It is equipped with a power source to drive these, a measuring device to measure the operating state, a control device to control the operating signal, a communication device to send and receive command signals, and an ultrasonic measuring device. The control device is based on continuously measuring the distance between the target object and the self-propelled vehicle using the reflected waves of the emitted ultrasonic waves, and detecting the position where the amount of reflection of the ultrasonic waves emitted to the target object suddenly changes. A self-propelled vehicle for transporting cylindrical objects that performs grasping operations by recognizing the target object. ” Japanese Patent Application Sho GO-2328JI (4)

Claims (1)

[Claims] A drive wheel to which power is transmitted, an arm to grip a target object, a power source to drive these, a measuring device to measure operating conditions, a control device to control operating signals, a communication device to send and receive command signals, and ultrasonic waves. comprising a measuring device, which continuously measures the distance between the target object and the self-propelled vehicle using reflected waves of ultrasonic waves emitted from the ultrasonic measuring device to the target object;
Further, based on the detection of the position where the amount of reflection of the ultrasonic wave emitted to the target object suddenly changes, the control device controls the target object.
A self-propelled vehicle for transporting cylindrical objects that performs gripping operations using Wk.