WO2012111510A1

WO2012111510A1 - Position detection device

Info

Publication number: WO2012111510A1
Application number: PCT/JP2012/052882
Authority: WO
Inventors: 裕文家永; 中村　幹夫
Original assignee: 三菱重工業株式会社
Priority date: 2011-02-16
Filing date: 2012-02-08
Publication date: 2012-08-23
Also published as: JP5804722B2; JP2012168107A

Abstract

This position detection device (1) has: an optical sensor (2) for irradiating linear light onto a head part (Bt) of a reference bolt (B) having height in a direction that intersects a measurement surface, and for using the reflected light therefrom to measure the distance to the head part (Bt) of the reference bolt (B); a rotation support shaft (3) for moving the linear light in two directions that intersect the irradiation direction; a position sensor for detecting the movement position of the rotation support shaft (3) at a point in time in which the distance having a predetermined value has been measured by the optical sensor (2); and a computation unit for computing the coordinates of the center of a bolt hole (Pb) substantially at the center of the reference bolt (B) in the plane defined by the two movement directions, from a plurality of position data obtained from the position sensor.

Description

Position detection device

The present invention relates to a position detection device that detects a target point located substantially at the center of a target on the measurement surface by measuring a distance from the measurement surface to the target protruding with an optical sensor.
This application claims priority based on Japanese Patent Application No. 2011-030885 for which it applied to Japan on February 16, 2011, and uses the content here.

Conventionally, when drilling holes such as bolt holes on large panels such as aircraft main wing panels, the target point that becomes the reference for drilling is first determined on the panel with high accuracy, and the relative positional relationship with this target point The position of the target bolt hole or the like is determined based on the above.

Here, the center of the bolt hole of a so-called reference bolt may be adopted as a target point that becomes a reference for drilling. This reference bolt is a bolt that temporarily fixes a panel that forms the upper and lower surfaces of the main wing and a spar that forms both longitudinal sides. And the position detection apparatus which detects the center of a bolt hole by detecting the external shape of the reference | standard bolt in the state attached to the panel is used.

As an example of this position detection device, a contact type position detection device using a so-called touch probe is known. The position detection device acquires the position data of the probe when the probe contacts the reference bolt while moving the probe called a probe, and the center position of the bolt hole based on the acquired plurality of position data. Is obtained by arithmetic processing.

In other words, the position detection device moves the probe in the positive direction and the negative direction along the X axis when the X axis and the Y axis, which are the radial directions of the reference bolt and are orthogonal to each other, are set. The probe is also moved along the positive direction and the negative direction. Then, the probe position data is acquired at a total of four locations, ie, two locations along the X-axis direction where the probe contacts the bolt head and two locations along the Y-axis direction. Then, the position detection device calculates the center position of the bolt hole, that is, the coordinates of the target point, based on the position data of the four locations.

Further, as another type of position detection apparatus, a non-contact type position detection apparatus using a so-called laser length measuring device is known (for example, see Patent Document 1). This position detection device measures the distance to the head of the reference bolt while moving the laser length measuring device. The laser length measuring device acquires the position data of the laser length measuring device when the distance changes, and obtains the center position of the bolt hole by arithmetic processing based on the acquired plurality of position data.

That is, the position detection apparatus moves the laser length measuring device in the positive direction along the X axis and also moves the laser length measuring device in the positive direction along the Y axis. And the position data of a laser length measuring device are each acquired in the total location of two places along the X-axis direction where the distance to a reference bolt changes, and two places along the Y-axis direction. Then, the position detection device calculates the coordinates of the target point based on the position data of the four places.

JP-A-1-308905

However, the conventional contact-type position detection device has a problem that it takes a long time to detect a target point that is a reference for drilling. In other words, the contact-type position detecting device needs to perform the operation of moving the probe until it contacts the reference bolt in each of the four directions, and since the number of operations is large, the time required to detect the target point is long. Become.

In addition, although the conventional non-contact type position detection device also has two directions for moving the laser length measuring device and less than the contact type, the distance for moving the laser length measuring device in each direction is the same as that of the contact type position detecting device. Since it is longer than the distance to which the probe is moved, there is a problem that it takes a long time to detect the target point as in the contact type.

The present invention has been made in view of such circumstances, and an object of the present invention is to provide a position detection device that can detect the coordinates of a target point serving as a reference for drilling on a panel in a short time. To do.

The position detection apparatus according to the first aspect of the present invention is an optical system that irradiates a target having a height in a direction intersecting the measurement surface with linear light and measures the distance to the target using the reflected light. A sensor, a moving means for moving the linear light in two directions intersecting an irradiation direction, and a position sensor for detecting a moving position of the moving means when a distance of a predetermined value is measured by the optical sensor; A calculation unit that calculates coordinates of a target point that is substantially at the center of the target in a plane defined by the two movement directions from a plurality of position data obtained from the position sensor.

According to such a configuration, the calculation unit calculates the target based on the distance to the target measured by the optical sensor at each of the two movement positions and the movement position of the moving means detected by the position sensor. The coordinates of the target point at the approximate center of the object can be detected quickly and accurately.

Further, in the position detection device according to the second aspect of the present invention, the target is a bolt head protruding from the measurement surface.

According to such a configuration, the optical sensor measures the distance to the bolt head at each of the two moving positions, so that the target point that is the approximate center of the bolt that is the target, that is, the bolt formed on the measurement surface The center of the hole can be detected quickly and accurately.

In the position detection device according to the third aspect of the present invention, the optical sensor has one scanning direction, and the moving means moves the entire optical sensor in the two moving directions.

According to such a configuration, the moving means can easily and quickly move the linear light in two directions intersecting the irradiation direction by moving the entire optical sensor having one scanning direction in two moving directions. .

The position detection apparatus according to the present invention can detect a target point serving as a reference for drilling on a panel in a short time.

It is a schematic perspective view which shows the external appearance of the position detection apparatus which concerns on this embodiment. It is a schematic perspective view which shows the external appearance of the position detection apparatus which concerns on this embodiment. It is explanatory drawing for demonstrating the scan of the reference | standard bolt by an optical sensor. It is a functional block diagram which shows the function structure of a position detection apparatus. It is explanatory drawing for demonstrating the calculation of the coordinate of the target point by a calculating part, Comprising: It is a schematic sectional drawing of the head of the volt | bolt in the position of 1st linear light in FIG. It is explanatory drawing for demonstrating the calculation of the coordinate of the target point by a calculating part, Comprising: It is a schematic sectional drawing of the head of the volt | bolt in the position of 2nd linear light in FIG.

Embodiments of the present invention will be described with reference to the drawings. Initially, the structure of the position detection apparatus which concerns on embodiment of this invention is demonstrated. In this embodiment, when drilling holes such as bolt holes on the panel that forms the upper and lower surfaces of the main wing of an aircraft, when detecting the center coordinate of the bolt hole of the reference bolt as a target point that becomes the reference for drilling Will be described as an example. In addition, the reference | standard bolt in this embodiment is a volt | bolt used in order to temporarily fix the said panel with respect to the spar which forms the longitudinal direction both sides of a main wing.

The external configuration of the position detection apparatus according to the embodiment of the present invention will be described. 1A and 1B are schematic perspective views showing the appearance of the position detection device 1 according to the present embodiment. The position detection device 1 includes an optical sensor 2 that measures the distance to a reference bolt B (target) that protrudes from the panel P, and a rotary spindle that supports the optical sensor 2 and is rotationally driven by a motor or the like (not shown). 3 (moving means).

The optical sensor 2 measures the distance from the optical sensor 2 to the reference bolt B by irradiating the reference bolt B with light and receiving the reflected light. As shown in FIGS. 1A and 1B, the optical sensor 2 includes a sensor main body 21 as a housing, a light emitting unit 22 provided on a lower surface of the distal end portion of the sensor main body 21, and a proximal end portion of the sensor main body 21. And a light receiving portion 23 provided on the lower surface.

As shown in FIG. 1A and FIG. 1B, the sensor body 21 is driven by the rotation support shaft 3 provided through the base end portion thereof, so that the first scan position P1 shown in FIG. The second scan position P2 shown in FIG. Here, the second scan position P2 is a position where the sensor main body 21 is rotated by approximately 90 ° from the first scan position P1 with the rotation support shaft 3 as a fulcrum.

The light emitting unit 22 is a member that irradiates the reference bolt B with linear light. That is, the light emitting unit 22 is provided in such a manner that the irradiation angle can be changed, although details are not shown in FIGS. 1A and 1B, and linear light can be irradiated by changing the irradiation angle in a short time.

The light receiving unit 23 is a member for receiving the reflected light of the linear light emitted from the light emitting unit 22.
As shown in FIGS. 1A and 1B, the light receiving unit 23 receives the reflected light that is reflected back from the surface of the panel P with respect to the linear light that the light emitting unit 22 irradiates the reference bolt B while changing the irradiation direction. To do. Or the light-receiving part 23 receives the reflected light which reflected and returned with the head Bt of the reference | standard bolt B about the linear light which the light emission part 22 irradiated to the reference | standard bolt B, changing the irradiation direction.

Here, FIG. 2 is an explanatory diagram for explaining the scanning of the reference bolt B by the optical sensor 2. The optical sensor 2 configured as described above emits first linear light L1 extending substantially parallel to a predetermined X-axis direction when the sensor main body 21 is first positioned at the first scan position P1 shown in FIG. 1A. The reference bolt B is irradiated from the part 22 and the reflected light is received by the light receiving part 23. As a result, the distance from the optical sensor 2 at the first scan position P1 to the head Bt of the reference bolt B or the surface Pa of the panel P is measured.

Next, when the rotation support shaft 3 is rotationally driven by a motor (not shown), the sensor main body 21 rotates 90 ° from the first scan position P1 and moves to the second scan position P2. At the second scan position P2, the second linear light L2 extending substantially parallel to the Y-axis direction is irradiated from the light emitting unit 22 to the reference bolt B, and the reflected light is received by the light receiving unit 23. Accordingly, the distance from the optical sensor 2 at the second scan position P2 to the head Bt of the reference bolt B or the surface Pa of the panel P is measured. Here, the Y-axis direction is a direction substantially orthogonal to the X-axis direction.
In the present embodiment, the scan at the first scan position P1 is performed first, and then the scan at the second scan position P2 is performed. Conversely, the scan at the second scan position P2 is performed, and then the first scan is performed. You may scan in the position P1.

Next, the functional configuration of the position detection device 1 according to the embodiment of the present invention will be described. FIG. 3 is a functional block diagram illustrating a functional configuration of the position detection device 1. The position detection device 1 has a configuration in which a control unit 4, an optical sensor 2, a rotation support shaft 3, a position sensor 5, and a calculation unit 6 are electrically connected to each other via a control bus 7.

Control unit 4 controls the operation of each unit. More specifically, the control unit 4 controls the irradiation angle of the light emitting unit 22 constituting the optical sensor 2, the rotation angle of the rotation support shaft 3, the operation of the position sensor 5, the operation of the calculation unit 6, and the like.

The optical sensor 2 measures the distance to the reference bolt B as described above. The measurement result at the first scan position P1 and the measurement result at the second scan position P2 by the optical sensor 2 are respectively input to the calculation unit 6 shown in FIG.

The position sensor 5 detects the position of the sensor body 21 constituting the optical sensor 2. That is, the position sensor 5 detects whether the optical sensor 2 is located at the first scan position P1 or the second scan position P2. The detection result by the position sensor 5 is input to the calculation unit 6 shown in FIG.

Based on the inputs from the optical sensor 2 and the position sensor 5, the calculation unit 6 calculates the coordinates of the target point that is a reference for drilling. Here, in the embodiment of the present invention, this target point is set to a point at the center of the target in the plane defined by the two movement directions of the optical sensor 2.
That is, in this embodiment, as shown in FIG. 2, a bolt hole Pb (through which the reference bolt B is inserted in the surface Pa of the panel P which is a plane defined by the first linear light L1 and the second linear light L2. A center T (shown by a broken line in FIG. 2) is set as a target point. Also, as shown in FIG. 3, information about the outer shape of the head Bt of the reference bolt B is stored in advance as profile data 61 in the calculation unit 6. The setting of the target point is not limited to this embodiment, and can be set to an arbitrary point according to the shape of the target.

Next, calculation of the coordinates of the target point by the calculation unit 6 will be described. 4 and 5 are explanatory diagrams for explaining the calculation of the coordinates of the target point by the calculation unit 6. FIG. 4 is a schematic cross-sectional view of the head Bt of the bolt at the position of the first linear light L1 in FIG. 2, that is, the position of X = X1. FIG. 5 is a schematic cross-sectional view of the head Bt of the bolt at the position of the second linear light L2 in FIG. 2, that is, the position of Y = Y1.

First, the calculation unit 6 obtains a straight line expression representing the outer shape of the head Bt of the reference bolt B based on the measurement result of the optical sensor 2 at the first scan position P1. That is, the calculation unit 6 calculates the equation of line 1 indicating the upper surface of the head Bt of the reference bolt B in the cross section of the head Bt of the reference bolt B in FIG. 4 based on the profile data 61 as the following equation (1). To calculate. Similarly, the calculation unit 6 calculates an expression of the line 2 indicating the bottom surface of the head Bt of the reference bolt B, an expression of the

lines

3 and 4 indicating both side surfaces of the head Bt based on the profile data 61 as follows: 2) Calculate as shown in Equation (3) and Equation (4), respectively.

Next, the calculation unit 6 calculates the coordinates of the point A, which is the intersection of the line 1 and the line 3, based on the formulas (1) and (3) as the following formula (5). Similarly, the calculation unit 6 calculates the coordinates of the point B that is the intersection of the line 1 and the line 4 as in the following expression (6) based on the expressions (1) and (4).

Next, the calculation unit 6 calculates the expression of the line 5 which is a perpendicular line from the point A to the line 2 as the following expression (7). Similarly, the calculation unit 6 calculates an expression of the line 6 that is a perpendicular line from the point B to the line 2 as the following expression (8).

Next, the calculation unit 6 calculates an expression of the line 7 that is substantially parallel to both the line 5 and the line 6 and located at an approximately equal distance from both, as the following expression (9).

Next, the calculation unit 6 calculates the Z coordinate of the point C that is the intersection of the line 7 and the line 2 based on the equations (9) and (2). Thereby, the calculating part 6 derives the coordinates (X1, Y1, Z1) of the point C.

Subsequently, the calculation unit 6 obtains a straight line expression representing the outer shape of the head Bt of the reference bolt B based on the measurement result of the optical sensor 2 at the second scan position P2. That is, the calculation unit 6 calculates the equation of the line 8 indicating the upper surface of the head Bt of the reference bolt B in the cross section of the head Bt of the reference bolt B in FIG. 5 as the following equation (10). Similarly, the calculation unit 6 calculates an expression of the line 9 indicating the bottom surface of the head Bt of the reference bolt B, an expression of the

lines

10 and 11 indicating both side surfaces of the head Bt based on the profile data 61 ( 11), Equation (12), and Equation (13), respectively.

Next, the calculation unit 6 calculates the coordinates of the point D, which is the intersection of the line 8 and the line 10, based on the equations (10) and (12) as the following equation (14). Similarly, the computing unit 6 calculates the coordinates of the point E, which is the intersection of the line 8 and the line 11, based on the equations (10) and (13) as the following equation (15).

Next, the calculation unit 6 calculates an expression of the line 12 that is a perpendicular line from the point D to the line 9 as the following expression (16). Similarly, the calculation unit 6 calculates the expression of the line 13 that is a perpendicular line from the point E to the line 9 as the following expression (17).

Next, the calculation unit 6 calculates an expression of the line 14 that is substantially parallel to both the line 12 and the line 13 and is located at an approximately equal distance from the line 12 and the line 13 as the following expression (18).

Next, the calculation unit 6 calculates the expression of the line 15 that is parallel to the line 9 and passes through the point F (X1, Y1, Z1) as the following expression (19).

Next, the calculation unit 6 derives the coordinates (X2, Y2, Z2) of the point G that is the intersection of the line 14 and the line 15 based on the equations (18) and (19). Further, the calculation unit 6 derives Y3 which is the Y coordinate of the point G on the line 7 shown in FIG.

Thus, the calculation unit 6 detects the center coordinates of the bolt hole Pb of the reference bolt B, which is the target point, as (X2, Y3, Z2).

Note that the shapes, combinations, operation procedures, and the like of the constituent members shown in the above-described embodiments are merely examples, and various changes can be made based on design requirements and the like without departing from the gist of the present invention.

According to the position detection device of the present invention, a target point that is a reference for drilling can be detected on the panel in a short time.

DESCRIPTION OF SYMBOLS 1 Position detection apparatus 2 Optical sensor 3 Rotation spindle 4 Control part 5 Position sensor 6 Calculation part 7 Control bus 21 Sensor main body 22 Light emission part 23 Light reception part 61 Profile data B Reference | standard bolt Bt Head (reference | standard bolt)
L1 First linear light L2 Second linear light P Panel P1 First scan position P2 Second scan position Pa Surface (panel)
Pb Bolt hole (panel)
T center (bolt hole)

Claims

An optical sensor that irradiates a target having a height in a direction intersecting the measurement surface with linear light, and measures the distance to the target using the reflected light;
Moving means for moving the linear light in two directions intersecting the irradiation direction;
A position sensor for detecting a moving position of the moving means when a distance of a predetermined value is measured by the optical sensor;
A computing unit that computes coordinates of a target point substantially at the center of the target in a plane defined by the two movement directions from a plurality of position data obtained from the position sensor;
A position detecting device.
The position detection device according to claim 1, wherein the target is a bolt head protruding from the measurement surface.
3. The position detecting device according to claim 1, wherein the optical sensor has one scanning direction, and the moving means moves the entire optical sensor in the two moving directions.