A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
UNMANNED WORK VEHICLE
To specify and maintain a posture of an unmanned work vehicle during execution of specific work by a work device in order to achieve accurate control over movement of the unmanned work vehicle.SOLUTION: A movable carriage 11 with a panel pressing installation device 2 mounted includes: Mecanum wheels 12 for making the movable carriage 11 freely move back and forth in all directions; a video camera 13 for acquiring point group data of grooves 34; a plurality of posture maintenance units 14; and a control computer 15 for respectively controlling the panel pressing installation device 2, the Mecanum wheels 12, the video camera 13 and the posture maintenance units 14. An unmanned work vehicle 1 matches a work reference M of the panel pressing installation device 2 with an intersection point of the grooves 34 by moving the movable carriage 11 such that grooves of the point group data including the intersection point of the grooves 34 acquired by the video camera 13 coincide with reference line data, starts the panel pressing installation device 2 with the posture maintenance units 14 engaged with the respective grooves 34, and executes specific work.SELECTED DRAWING: Figure 4
【課題】無人作業車の移動の制御を正確にするため、作業装置による特定作業の実行中における無人作業車の姿勢を特定及び維持する。【解決手段】パネル押さえ設置装置２を搭載させた移動台車11に、移動台車11を全方向へ進退自在に移動させるメカナムホイール12と、溝34の点群データを取得する動画カメラ13と、複数基の姿勢維持ユニット14と、パネル押さえ設置装置２、メカナムホイール12、動画カメラ13、姿勢維持ユニット14それぞれを制御させる制御コンピュータ15とを備え、動画カメラ13が取得した溝34の交点を含む点群データの溝が基準線データと合致するように移動台車11を移動させることにより、パネル押さえ設置装置２の作業基準Ｍを溝34の交点に一致させ、かつ溝34それぞれに姿勢維持ユニット14を掛合させた状態でパネル押さえ設置装置２を起動させ、特定作業を実行させる無人作業車１である。【選択図】図４
UNMANNED WORK VEHICLE
To specify and maintain a posture of an unmanned work vehicle during execution of specific work by a work device in order to achieve accurate control over movement of the unmanned work vehicle.SOLUTION: A movable carriage 11 with a panel pressing installation device 2 mounted includes: Mecanum wheels 12 for making the movable carriage 11 freely move back and forth in all directions; a video camera 13 for acquiring point group data of grooves 34; a plurality of posture maintenance units 14; and a control computer 15 for respectively controlling the panel pressing installation device 2, the Mecanum wheels 12, the video camera 13 and the posture maintenance units 14. An unmanned work vehicle 1 matches a work reference M of the panel pressing installation device 2 with an intersection point of the grooves 34 by moving the movable carriage 11 such that grooves of the point group data including the intersection point of the grooves 34 acquired by the video camera 13 coincide with reference line data, starts the panel pressing installation device 2 with the posture maintenance units 14 engaged with the respective grooves 34, and executes specific work.SELECTED DRAWING: Figure 4
【課題】無人作業車の移動の制御を正確にするため、作業装置による特定作業の実行中における無人作業車の姿勢を特定及び維持する。【解決手段】パネル押さえ設置装置２を搭載させた移動台車11に、移動台車11を全方向へ進退自在に移動させるメカナムホイール12と、溝34の点群データを取得する動画カメラ13と、複数基の姿勢維持ユニット14と、パネル押さえ設置装置２、メカナムホイール12、動画カメラ13、姿勢維持ユニット14それぞれを制御させる制御コンピュータ15とを備え、動画カメラ13が取得した溝34の交点を含む点群データの溝が基準線データと合致するように移動台車11を移動させることにより、パネル押さえ設置装置２の作業基準Ｍを溝34の交点に一致させ、かつ溝34それぞれに姿勢維持ユニット14を掛合させた状態でパネル押さえ設置装置２を起動させ、特定作業を実行させる無人作業車１である。【選択図】図４
UNMANNED WORK VEHICLE
無人作業車
KINUGASA TETSUYA (author) / ITO KAZUTERU (author) / MIYAMOTO NAOKI (author) / NOSE TAKAHIRO (author) / TSUCHIYA YOSHINORI (author) / YUASA SEIJI (author)
2022-08-17
Patent
Electronic Resource
Japanese
Unmanned vehicle passenger carrying method and unmanned vehicle
| European Patent Office | 2023