Positional deviation detecting device for a mobile body and position correcting apparatus for a working machine mounted on a mobile body
First Claim
1. A position correcting apparatus for a working machine mounted on a mobile body for stopping said mobile body at a predetermined work position on a floor with a regular pattern formed thereon, and allowing said working machine to perform a predetermined operation according to teaching data, previously prepared and given to said working machine with said mobile body stopped at a reference stop position at said work position, comprising:
- image pickup means, provided on said mobile body side at a position near said floor, for picking up an image on said floor where said mobile body stops;
reference picked image acquiring means for, at a time of giving said teaching data to said working machine, for acquiring a reference picked image including an image of said regular pattern and an image of a identification mark provided on said floor in vicinity of said predetermined work position, both acquired by said image pickup means with said mobile body stopped at said reference stop position of said work position;
on-pause picked image acquiring means for acquiring an on-pause picked image including images of said regular pattern and said identification mark acquired by said image pickup means at a stop position of said mobile body when stopped; and
teaching data correction means for comparing said regular pattern in said reference picked image, obtained by said reference picked image acquiring means, with said regular pattern in said on-pause picked image, obtained by said on-pause picked image acquiring means, based on a position of said identification mark, and correcting said teaching data of said working machine based on a result of the comparison.
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0 Petitions
Accused Products
Abstract
A pickup sensor for picking up an image on a floor is installed on a mobile body with a working machine mounted thereon in order to correct for the position deviation of a working machine due to possible deviation in the stop position of a mobile body to always ensure accurate working without increasing the working time of the overall system at the time of stopping the mobile body at a predetermined position and allowing said working machine to perform predetermined operation according to previously given teaching data. At the time the teaching data is given, the pickup sensor picks up an image (reference picked image) including a regular pattern and a predetermined identification mark formed on a floor. At the time the working machine works, the pickup sensor also picks up an image (on-pause picked image) on the floor surface at the stop position. The reference picked image is compared with the on-pause picked image based on the position of the identification mark, and the teaching data of the working machine is corrected on the basis of the comparison result. This correction does not involve the operation of the movable portions of the working machine or the like and can be accomplished by using an operation switching time which exists between the time when the mobile body has stopped and the time the working machine initiates an operation.
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Citations
31 Claims
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1. A position correcting apparatus for a working machine mounted on a mobile body for stopping said mobile body at a predetermined work position on a floor with a regular pattern formed thereon, and allowing said working machine to perform a predetermined operation according to teaching data, previously prepared and given to said working machine with said mobile body stopped at a reference stop position at said work position, comprising:
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image pickup means, provided on said mobile body side at a position near said floor, for picking up an image on said floor where said mobile body stops; reference picked image acquiring means for, at a time of giving said teaching data to said working machine, for acquiring a reference picked image including an image of said regular pattern and an image of a identification mark provided on said floor in vicinity of said predetermined work position, both acquired by said image pickup means with said mobile body stopped at said reference stop position of said work position; on-pause picked image acquiring means for acquiring an on-pause picked image including images of said regular pattern and said identification mark acquired by said image pickup means at a stop position of said mobile body when stopped; and teaching data correction means for comparing said regular pattern in said reference picked image, obtained by said reference picked image acquiring means, with said regular pattern in said on-pause picked image, obtained by said on-pause picked image acquiring means, based on a position of said identification mark, and correcting said teaching data of said working machine based on a result of the comparison. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A stop-position deviation detecting device for obtaining a deviation between an on-pause picked image, acquired by picking up an image of a predetermined flat surface which has an arbitrary pattern and a predetermined identification mark formed thereon and on which a mobile body moves, with said mobile body stopped at a predetermined position, and a reference picked image, acquired by picking up an image of said flat surface, with said mobile body previously stopped at a predetermined reference stop position, by comparing said arbitrary patterns on said picked images with respect to said identification mark taken as a reference, thereby detecting an amount of deviation of said stop position of said mobile body based on said deviation, said apparatus comprising:
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reference position data acquiring means for acquiring, from said reference picked image, position data of a plurality of pattern components constituting said arbitrary pattern and said identification mark on said reference picked image; on-pause position data acquiring means for acquiring, from said on-pause picked image, position data of said plurality of pattern components and said identification mark on said on-pause picked image; code assigning means for assigning common codes to said plurality of pattern components with said identification mark on each of said picked images taken as a reference; associating means for associating said plurality of pattern components between said picked images in one-to-one correspondence based on said codes of said plurality of pattern components given by said code assigning means; and deviation calculation means for acquiring a difference between said position data acquired by said reference position data acquiring means and said on-pause position data acquiring means for each set of said plurality of pattern components associated with one another by said associating means, and acquiring a deviation between said picked images based on said difference in said position data in each set. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31)
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Specification