JPS61135900A - Teaching system of washer - 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 [Field of Application of the Invention] The present invention relates to a control method for an aircraft cleaning device, and particularly to a teaching system suitable for reducing operation teaching load.

[Background of the invention]

In conventional aircraft cleaning equipment, the cleaning equipment is placed on both sides of the aircraft body. A teach method is one of the methods for providing a control device with a program or data regarding the cleaning operation of each cleaning device. In this method, an operator actually operates the cleaning device and records the coordinates of a representative point during operation in the control device. When employing the teaching method, there is a problem in that if the cleaning devices on both sides are taught at random, the workload of the operator increases.

[Purpose of the invention]

An object of the present invention is to provide a teaching system that can convert teach data created by one cleaning unit control device into data for a cleaning unit control device located at a bilaterally symmetrical position.

[Summary of the invention]

In the present invention, since the aircraft body is symmetrical with respect to the aircraft axis, only one side of the cleaning device is taught, and the teaching data is used to create operation data for the other cleaning device. The data for the handle, the machine axis direction, and the vertical direction are left as is, and only the teach data in the direction perpendicular to the machine axis is converted to be axially symmetrical with respect to the machine axis.

Note that with this method, there is a concern that the precision of the operation data created from one teaching data will be reduced due to shape errors, installation errors, etc. of the aircraft. Regarding this point, there is no problem because the errors are small, the push unit has mechanical slack, and the brush unit can be controlled to follow the body surface.

[Embodiments of the invention]

An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 shows the overall configuration of the system. Bridge girders 2 are installed on the road on both sides of the aircraft 1, and an upper cleaning unit 3, a lower cleaning unit 4, and a traveling device 7 are installed on each bridge girder. On the road, a rail 5 that is inclined horizontally to the axis of the aircraft and a rail 6 in the axis direction on the outside of this rail are laid, and the traveling device 7 moves on these rails. The upper cleaning unit 3 and the lower cleaning unit 4 are each equipped with a brush 9. In addition, the upper cleaning unit 3 and the lower cleaning unit 4 are equipped with respective control devices (not shown), which are connected to the central control device 10 in the ground control room, for example, via an optical network (not shown). It is connected.

FIG. 2 shows the control system configuration of the system.

Left/right/up/down unit control device 11.12, 13°14
is connected to the general control device 10 via an optical network 15. The upper unit control device 11.13 controls the running of the entire cleaning unit and the cleaning operation of the brushes. The lower unit control device 12.14 controls the running of the entire cleaning unit, the cleaning work of the brushes, and the running of the traveling device 7. The unit controllers 11, 12, 13, 14 are equipped with memories 21, 22, 23, 24 for storing teach data. The overall control device 10 includes
A program 25 for converting teach data is stored.

Each piece of equipment (cleaning unit, traveling device, brush) is assigned its own identification number. In addition, the following control commands are prepared for each device. For example, M.O.V.
E (traveling device or cleaning unit running), BEGIN
(work start), 5TOP (work stop), LIFT (brush movement), WAIT (wait), etc. Among these control commands, commands to run and move the cleaning unit, traveling device, and plan (for example, the above-mentioned MOVB).

LIFT) is given the coordinates of the destination point.

These commands require coordinate transformation when creating one teach data to the other. Commands that do not involve running or moving (for example, BEGIN or 5TOP)
), it is unnecessary.

In the present invention, the machine axis direction is the X axis, the machine axis perpendicular direction in the horizontal plane is the Y axis, and the vertical direction is the two axes.

These coordinates may be either relative or absolute coordinates. Relative coordinates can be measured using potentiometers and tachometers within each device. By specifying the origin,
Conversion from relative coordinates to absolute coordinates is easily performed. It is executed using the keyboard or dedicated teach box attached to each unit control device by Teach Corporation.

FIG. 3 shows the internal structure of the memories 21, 22, 23, and 24. The device number field 31 stores identification numbers of devices to be controlled. The command column 32 stores control commands for the device.

If the control command is run/move, set the destination coordinates to
It is stored in column 33, Y column 34, and z column 35.

(The X column, Y column, and 2 column are used to store command attributes for control commands other than running/moving. For example, in the case of a control command called WAIT, the waiting time is stored. ) The control commands stored in this memory are executed sequentially starting from the line above.

FIG. 4 shows the detailed flow of the data conversion program.

The area 51 is an area for temporarily storing teach data, and has the same structure as the memory 21 and the like.

In area 52, command names that require coordinate transformation are registered in advance.

Area 53 is a correspondence table of unit control devices located in symmetrical positions, and device numbers are registered in advance.

In box 41, the unit control device number that stores the teach data to be used as the base is input from the keyboard attached to the general control device 10.

Box 42 sequentially transfers the teach data stored in its memory to area 51 based on the unit controller number.

Box 43 sequentially reads commands in area 51. If there is no data, jump to box 46.

Box 44 checks whether the read command matches any of the commands registered in area 52. If there is a match, box 45 is executed.

Box 45 changes the sign of the value in the Y column for that row. This creates symmetrical data.

Box 46 refers to area 53 based on the unit control device number read in box 41, and sets the unit control device number at a position symmetrical thereto as the data transfer destination device number.

Box 47 transfers the contents of area 51 to the memory of the unit control device having the data transfer destination device number.

Next, the operation of the one-piece system will be explained.

The teaching worker is on board the cleaning machine and stores the teaching data in the unit controller memory while carrying out the actual operation. When the teaching is completed, the operator in the ground control room starts the program 25. By executing this program 25, operation data is created on the memory of the control device of the cleaning unit located at symmetrical positions.

According to this embodiment, since the data conversion program only needs to be provided in the overall control device, the memory of the unit control device may be small. Furthermore, since pre-registered conversion-required commands are utilized, the conversion process is simplified.

There is an effect like this.

In this embodiment, the overall control device 40 is provided, but this may be omitted. In that case, at least one of the unit controllers must have a data conversion program. Further, in this embodiment, the Y axis is perpendicular to the axis of the aircraft body, but it may also be in the direction of the rail 5.

〔Effect of the invention〕

According to the present invention, by simply teaching the operational data of the cleaning unit controller on one side of the aircraft body, the operational data for the cleaning unit controller on the remaining side can be automatically generated. Can be reduced (2)
This has the effect of reducing the possibility of damage to the aircraft due to mistakes during actual aircraft teaching work.

Note that the present invention is not necessarily limited to aircraft bodies, but can be widely implemented in cleaning other articles having a symmetrical shape.

[Brief explanation of drawings]

FIG. 1 is a system configuration diagram showing an embodiment of the present invention, FIG. 2 is a control device configuration diagram according to an embodiment of the present invention, and FIG. 3 is a memory structure diagram according to an embodiment of the present invention. FIG. 4 is a detailed flowchart of a program according to an embodiment of the present invention. 1... Aircraft, 2... Bridge girder, 3... Upper cleaning unit, 4... Lower cleaning unit, 7... Traveling device,
10... General control device, 11-14... Cleaning unit control device, 25... Data conversion program, 21-
24... Tei Kaya 1st eye 20' 43 countries ¥ 4 in 2: Ani 14-6 ] 1'

Claims (1)

[Scope of Claims] 1. An aircraft cleaning system consisting of two self-propelled platforms on the right that approach the aircraft to be cleaned from the side and a cleaning cart that moves in the longitudinal direction of the aircraft along the platforms is operated according to taught commands. In a teaching playback type aircraft cleaning control system that controls based on operational data consisting of position data, by teaching only one side of the left and right aircraft cleaning systems, symmetrical teach data is placed in the controller storage and reproduction data area, A teaching method for a cleaning device characterized in that playback is performed on both the left and right sides. 2. In the above teaching method, a conversion command area is provided to store commands that require coordinate conversion, and among the teachings on one side, only the position data of the command that matches the command stored in the conversion command area is subjected to coordinate conversion. A teaching system for a cleaning device according to claim 1, characterized in that: