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JP4445680B2 - Mark position detector for log of wood - Google Patents
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JP4445680B2 - Mark position detector for log of wood - Google Patents

Mark position detector for log of wood Download PDF

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JP4445680B2
JP4445680B2 JP2001046475A JP2001046475A JP4445680B2 JP 4445680 B2 JP4445680 B2 JP 4445680B2 JP 2001046475 A JP2001046475 A JP 2001046475A JP 2001046475 A JP2001046475 A JP 2001046475A JP 4445680 B2 JP4445680 B2 JP 4445680B2
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image pickup
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pickup device
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優 小池
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Meinan Machinery Works Inc
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Meinan Machinery Works Inc
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Description

【０００１】
【発明の属する技術分野】
ベニヤレースで原木を回転させ切削する際、予め原木の両木口の回転中心となるべき位置に、ドリルで形成された孔等のマークを付けているが、本発明は、これらマークの位置を検出しその情報により該マークが所定の位置に至るように原木を移動させる、原木のマーク位置検出装置に関するものである。
【０００２】
【従来の技術】
従来、特公平４−３１８４７号公報に記載されているように、ベニヤ単板（以下、単板という）を有効に得るために予め各種の芯出し装置により切削時の原木の回転中心となるべき原木両木口での位置を求めて各々孔などのマークを付け、次工程で該マークを検出し該マークとベニヤレースのスピンドルの回転中心とが一致するように原木を移動させ、次いでスピンドルで保持し刃物により切削することが行なわれている。
その際、木口の孔などのマークを検出するための、レンズとレンズを経由して入射された原木の像を写す撮像素子とを含む撮像装置を、例えば側面図である図２７、図２７の平面説明図である図２８に示すように配置し、以下のように位置決めを行なっていた。
即ち、原木２０１を保持し図２７の矢印の方向及び図２８の矢印の方向に移動自在のＶ字状の２個の保持部材２０３と、孔２０１ｂが形成され斜光を受ける原木２０１の木口２０１ａに相対し、レンズとレンズを経由して入射された原木の像を写す撮像素子とを備えた例えばＣＣＤ（ charge coupled device）カメラ２０５を備えている。
カメラ２０５の撮像素子（図示せず）上では、木口２０１ａの孔２０１ｂは斜光により黒の丸として表れ、この画像を画像処理演算手段（図示せず）により、撮像素子上での孔２０１ｂの位置の情報を検出する。
これら情報を受けた制御器（図示せず）からの作動信号により、両木口２０１ａの孔２０１ｂの位置が、各々カメラ２０５に対し上下方向（図２７で上下方向）及び左右方向（図２８で上下方向）で所定の位置に至るように、保持部材２０３を各々図２７及び２８に示す矢印の方向に移動させる。
次いで例えば原木２０１の両木口に各々把持爪（図示せず）を食い込ませた状態で、該把持爪により原木２０１をベニヤレース（図示せず）へ搬送する。
このベニヤレースへの搬送では、前記位置の情報によりベニヤレースのスピンドルの回転中心の位置と原木２０１の木口の孔２０１ｂの位置とを一致させるべく各把持爪を移動させ、原木２０１をスピンドルで保持した後、原木２０１を回転させ刃物（図示せず）により切削している。
【０００３】
【発明が解決すべき課題】
しかるに、上記装置で原木の木口に対して１台のカメラ２０５で孔を検出する際、カメラ２０５のレンズの焦点距離を大とすると、分解能が大きくなってより正確に孔の位置を検出することができるが、カメラ２０５の撮像素子上に像として写し出される部分は木口の狭い面積となり、その面積の中に孔が無いと検出することができなくなる。
逆に、カメラ２０５のレンズの焦点距離を小とすると、カメラ２０５の撮像素子上に像として写し出される部分は木口の広い面積となり、孔を検出することができるが、分解能が小さくなるため、孔の正確な位置を検出することができず、殆どの場合実際の位置に対し数ｍｍから十数ｍｍずれた位置として検出されてしまう。
一方ベニヤレースで原木を切削して得られる単板の厚さは薄い場合０．６ｍｍ程度であるため、前記ずれた位置での情報により原木を上記のように把持爪で保持して移動させ、スピンドルで保持し刃物で切削すると、歩留りを低下させてしまうのである。
【０００４】
【課題を解決するための手段】
本発明は上記問題を解決するために、原木木口のマーク位置検出装置として、原木を保持する２個の保持部材と、２個の保持部材に各々設けられ、該保持部材を原木の繊維方向と直交する方向で第１位置から第２位置へ移動させる２個の移動装置であって、第１位置と第２位置とを結ぶ方向と、該結ぶ方向を通る垂直な仮想面において該結ぶ方向と直交する方向の両方向に、各々独立して移動量を制御可能な２個の移動装置と、第１位置と第２位置の各位置において、前記垂直な仮想面と直交する方向に原木の繊維方向の長さより長い間隔で、レンズが相対した状態で配置され、該レンズとレンズを経由して入射された原木の木口の像を写す撮像素子とを有する撮像装置であって、第１位置の両撮像装置のレンズの焦点距離は第２位置の両撮像装置のレンズの焦点距離より小とした各撮像装置と、保持部材が第１位置にある時、原木の両木口の像を各々撮像装置の撮像素子上に結ばせ、両木口に付けられたマークの撮像素子上での位置を各々演算する画像処理演算手段と、画像処理演算手段からの位置の情報によりマークが第２位置の所定位置に至るように、２個の保持部材の、前記結ぶ方向と前記結ぶ方向と直交する方向の移動量を各々算出し、２個の移動装置に該算出された量各々移動するように作動信号を出す制御器と、保持部材が第２位置にある時、原木の両木口の像を各々撮像装置の撮像素子上に結ばせ、木口に付けられたマークの撮像素子上での位置を各々演算する画像処理演算手段と、画像処理演算手段からの位置の情報によりマークが第２位置の所定位置へより正確に至るように、２個の保持部材の、前記結ぶ方向と前記結ぶ方向と直交する方向の移動量を各々算出し、２個の移動装置に該算出された量更に各々移動するように作動信号を出す制御器とで構成する。
【０００５】
また原木を保持する２個の保持部材と、２個の保持部材に各々設けられ、該保持部材を原木の繊維方向と直交する方向での同一垂直仮想面で該保持部材を第１位置から第２位置を経て第３位置へ移動させる２個の移動装置であって、同一垂直仮想面で任意の方向と該任意の方向と直交する方向の両方向に、各々独立して移動量を制御可能な２個の移動装置と、第１位置と第２位置の各位置において、前記垂直な仮想面と直交する方向に原木の繊維方向の長さより長い間隔で、レンズが相対した状態で配置され、該レンズとレンズを経由して入射された原木の木口の像を写す撮像素子とを有する撮像装置であって、第１位置の両撮像装置のレンズの焦点距離は第２位置の両撮像装置のレンズの焦点距離より小とした各撮像装置と、保持部材が第１位置にある時、原木の両木口の像を各々撮像装置の撮像素子上に結ばせ、両木口に付けられたマークの撮像素子上での位置を各々演算する画像処理演算手段と、画像処理演算手段からの位置の情報によりマークが第２位置の所定位置に至るように、２個の保持部材の、前記任意の方向と前記任意の方向と直交する方向の移動量を各々算出し、２個の移動装置に該算出された量各々移動するように作動信号を出す制御器と、保持部材が第２位置にある時、原木の両木口の像を各々撮像装置の撮像素子上に結ばせ、木口に付けられたマークの撮像素子上での位置を各々演算する画像処理演算手段と、画像処理演算手段からの位置の情報によりマークが第３位置の所定位置に至るように、２個の保持部材の、前記任意の方向と前記任意の方向と直交する方向の移動量を各々算出し、２個の移動装置に該算出された量各々移動するように作動信号を出す制御器とで構成しても良い。
【０００６】
これら原木木口のマーク位置検出装置において、移動装置を、原木の繊維方向と直交する方向に保持部材を案内する案内部材を有し且つ第１位置側において原木の繊維方向と平行な同一仮想線上に間隔をおいて回動中心があり第１作動部材により互いに独立して所定角度回動自在の２個のアームと、保持部材を案内部材により案内しつつ所定量移動させる第２作動部材とで構成しても良い。
同じくこれら原木木口のマーク位置検出装置において、移動装置を、原木の繊維方向と直交する水平方向に保持部材を案内する案内部材を有し且つ第３作動部材により垂直方向に互いに独立して所定量移動自在の２個のアームと、保持部材を案内部材により案内しつつ所定量移動させる第４作動部材とで構成しても良い。
尚、撮像装置とは、ＣＣＤカメラのように撮像素子上に得られた光の情報を電気信号に変えることができる装置である。
【０００７】
【発明の実施の形態】
次に本発明の実施の形態を説明する。
図１の平面説明図、図１の一点鎖線Ａ−Ａより矢印の方向を見た図である図２及び図１の一点鎖線Ｂ−Ｂより矢印の方向を見た図である図３に示すように、回動中心が一致する回動軸１ａ、１ｂを第１支柱３、５により定位置に保持する。回動軸１ａには、取付け部材７ａを軸受（図示せず）を介して回動自在に備える。
この取付け部材７ａには図１の左右方向に長い２個の側壁７ｂが、図１、図２に示すように、回動軸１ａの軸中心線方向に間隔をおいて固定され、また両側壁７ｂの底面には、同じく図１の左右方向での長さが側壁７ｂより長く左方向へ突出した状態に底板７ｃが、また側壁７ｂの図１、図３で右端には側壁７ｂと底板７ｃとの端面に当板７ｄが固定されることでアーム７が構成されている。
側壁７ｂにはその上面に２列のリニアガイド１１を設け、また該リニアガイド１１に沿って移動を案内されるスライド部材１５を備える。
スライド部材１５には、図３に示すように、上部にＶ字状となるように配置された原木当接部１９を有する支持部材２３を固定する。
またスライド部材１５の下部には、図３で左右方向に貫通する雌ねじ（図示せず）を形成し、雌ねじには、例えば図１の一点鎖線Ｃ−Ｃより矢印の方向を見た図である図４に示すように、形状が合致する雄ねじ３１を挿通した状態で設ける。
これら雄ねじ３１は、回動軸１ａ側で底板７ｃに固定されたアブソリュート型ロータリエンコーダ（図示せず）を備えた第２作動部材の１例であるサーボモータ３５に接続されており、サーボモータ３５の回転で雄ねじ３１が回転することによりスライド部材１５がリニアガイド１１に沿ってに往復移動可能となる。
【０００８】
一方、図２、図３に示すように、底板７ｃの下部には取付け基台３８を固定し、取付け基台３８には回動軸１ａの回転中心から同一円周上となる位置に歯部３９ａが形成された円弧状のウォームホイール３９を固定する。また歯部３９ａに合致する螺旋状の歯部４１ａが形成されたウォーム４１を基台に軸受け４２を介して回動自在に設け、該ウォーム４１にアブソリュート型ロータリエンコーダ（図示せず）を備えた第１作動部材の１例であるサーボモータ４３を接続する。そのためサーボモータ４３の回転でウォーム４１が回転することによりウォームホイール３９が回動軸１ａの回転中心に対して回動し、その結果、回動軸１ａに対しアーム７が矢印の方向に往復回動自在となる。
以上のように回動軸１ａに対し１個のアーム７を構成したが、回動軸１ｂに対してもアーム７と全く同様の構成のアーム９、即ち図１に示すように、取付け部材９ａ、側壁９ｂ、底板９ｃ、当板９ｄ、リニアガイド１３、スライド部材１７、原木当接部２１、支持部２５、雌ねじ（図示せず）、雄ねじ３３、アブソリュート型ロータリエンコーダ（図示せず）を備えたサーボモータ３７を有するアーム９をアーム７と平行に設ける。また図示しないがアーム９を回転軸１ｂに対し往復回動させるべく、アーム７に設けたウォームホイール３９、ウォーム４１、アブソリュート型ロータリエンコーダを備えたサーボモータ４３も同様の位置関係でアーム９に設けるが、便宜上アーム９に設けたサーボモータを、サーボモータ４４という。
【０００９】
更には、スライド部材１５、１７の当接部１９、２１上に載置された原木の両木口を写すための撮像機構４５、４７、４９及び５１を、撮像機構４５と撮像機構４９とが、また撮像機構４７と撮像機構５１とが後述するように各々相対する位置に設ける。
各撮像機構４５、４７、４９及び５１はレンズの焦点距離を除いて全て同じ構成であり、例えば撮像機構４５、４７で説明すると、図１では要部だけを示したが図１の一点鎖線Ｄ−Ｄより矢印の方向を見た図である図５及び図５の一点鎖線Ｅ−Ｅより矢印の方向を見た図である図６に示すように構成されている。
即ち、基台５２の雌ねじ（図示せず）が形成された箇所に、図示するように３本の長ねじボルト５３をねじ込み且つナット５４ａにより固定することで直立した状態とする。各長ねじボルト５３は、図６に示すように支持板５５のアーム７側（図６で下方側）に２個の長穴５５ａ及びたアーム７と反対側に形成された１個の穴（図示せず）に各々挿通されており、図５に示すように高さを調整しつつ支持板５５の表裏両面から球面座金５４ｂを介してナット５４ｃで締め込むことによりにより支持板５５の上面を水平な状態とする。
尚、５６は基台５２に固定された第２支柱であり、第２支柱５６に図５で左右方向に貫通して形成された雌ねじ（図示せず）にボルト５６ａをねじ込み、先端を支持板５５の側面に当接させ支持板５５のアーム７側を左右方向に移動させることで、後述するレール５７ａをアーム７に対し直交するように調整するのである。５６ｂは各ボルト５６ａのねじ込み量が決定された後、各ボルト５６ａが各第２支柱５６に対しずれないように固定するためのナットである。
支持板５５の上面には、２本のリニア軸受を構成するレール５７ａを互いに平行に固定し、各レール５７ａにはレール５７ａ上を移動自在のスライド部材５７ｂを装着し、両スライド部材５７ｂには支持台５８を固定する。両スライド部材５７ｂの間で支持台５８の下面には、図５で前後方向に貫通する雌ねじ（図示せず）が形成された角材５９ａを固定し、該雌ねじには雌ねじに合致する雄ねじ５９ｂを挿通する。
雄ねじ５９ｂの一端には、図６に示すように雄ねじ５９ｂを正・逆回転させるためのアブソリュート型ロータリエンコーダを備えたサーボモータ６０ａを接続する。
【００１０】
一方、支持台５８の上端には、２個の断面が四角の筒状体（以下、角パイプという）６１ａ、６１ｂが図５及び図６のように固定されている。
角パイプ６１ａ、６１ｂの内側には、レンズ６２ａ、６２ｂを有する撮像装置としてのＣＣＤカメラ６３ａ、６３ｂが次のように保持されて、レンズ６２ａ、６２ｂの光軸とレール５７ａとを平行にする光軸調整装置の１例を構成している。
角パイプ６１ａ、６１ｂの上下及び水平方向の各辺には、レール５７ａと平行な方向で等しい間隔をおいて、２個の該辺内外に貫通する雌ねじ（図示せず）が形成され、これら雌ねじには形状が合致するボルト６４ａが挿通されている。
これらボルト６４ａの雌ねじへのねじ込み量を調整した状態でボルト６４ａの先端により、ＣＣＤカメラ６３ａ、６３ｂを上下及び水平方向から保持している。
尚、各ボルト６４ａに備えた６４ｂは、各ボルト６４ａのねじ込み量が決定された後、各ボルト６４ａが角パイプ６１ａ、６１ｂに対しずれないように固定するためのナットである。
これら光軸調整装置において、レンズ６２ａ、６２ｂの各光軸とレール５７ａとを平行とする調整は、次のように行なう。
【００１１】
最初に各長ねじボルト５３のナット５４ｃ及びボルト５６ａのナット５６ｂを緩めた状態で、各アーム７の側壁７ｂに当てた直角定規（図示せず）によりレール５７ａが側壁７ｂに対し直角となるように、各第２支柱５６のボルト５６ａを正又は逆回転させて先端を支持板５５の側面に当接させることで、支持板５５を、ＣＣＤカメラ６３ａ、６３ｂのレンズ６２ａ、６２ｂと反対側、即ち図６で上方にある長ねじボルト５３を回転中心として回転させる。
次いで各長ねじボルト５３のナット５４ｃを正又は逆回転させて支持板５５を上下動させ、支持板５５の上面を水平器（図示せず）を用いて水平な状態とした後、各ナット５４ｃは球面座金５４ｂを介して支持板５５に、また各ナット５６ｂは第２支柱５６に、各々圧接されるよう締め付ける。
次に各ＣＣＤカメラ６３ａ、６３ｂにおいて、ナット６４ｂを緩めた状態の全てのボルト６４ａを角パイプ６１ａ、６１ｂの雌ねじへねじ込み、レンズ６２ａ及び６２ｂが図６の左右方向での同一仮想線上にある状態で、各ＣＣＤカメラ６３ａ、６３ｂに各ボルト６４ａの先端を当接させて仮に保持しておく。
次いでサーボモータ６０ａを正逆作動させ角材５９ａ即ちＣＣＤカメラ６３ａ、６３ｂをアーム７に対し接近・離隔させ即ち図６で上下方向に移動させ、該移動によっても固定された被写体の特定の位置のＣＣＤカメラ６３ａ、６３ｂの撮像素子上での位置が殆ど変わらぬように調整する。この調整は各ボルト６４ａでＣＣＤカメラ６３ａ、６３ｂのレンズ６２ａ、６２ｂ側、図６では下側の各ボルト６４ａだけを正又は逆回転させることで、レンズ６２ａ、６２ｂの向いてる方向即ち光軸を図５で上下及び左右に変化させて行う。
これら調節が終了した後、各ボルト６４ａのナット６４ｂを、角パイプ６１ａ、６１ｂに圧接されるよう締め付ける。
以上の様にして、ＣＣＤカメラ６３ａ、６３ｂのレンズ６２ａ、６２ｂの光軸と、レール５７ａとを平行にする。
【００１２】
以上のように撮像機構４５、４７を構成するが、撮像機構４９、５１も全く同一の構成で互いに相対する位置に設け、同様の光軸調整装置によりレンズ６２ｃを有するＣＣＤカメラ６３ｃ、レンズ６２ｄを有するＣＣＤカメラ６３ｄをアーム９に対し接近・離隔させても固定された被写体の特定の位置のＣＣＤカメラ６３ｃ、６３ｄの撮像素子上での位置が変わらぬように調整するが、光軸調整装置の図示及び各部材の説明は省略する。ただ作動の説明の便宜上、サーボモータ６０ａに対応するサーボモータを６０ｂとし、図１に示す。
尚、これらＣＣＤカメラ６３ａ、６３ｂ、６３ｃ、６３ｄにおいて、レンズ６２ａと６２ｃとは同一焦点距離のレンズを、またレンズ６２ｂと６２ｄも同一焦点距離のレンズを用い、且つレンズ６２ｂ、６２ｄは、レンズ６２ａ、６２ｃより被写体が拡大した状態の像が得られるよう焦点距離が大、例えばレンズ６２ｂ、６２ｄは焦点距離５０ｍｍ、レンズ６２ａと６２ｃは焦点距離１６ｍｍとなっている。
【００１３】
また撮像機構４５、４７側だけを示した図３で、便宜上関連する要部だけを示した図７のように、レンズ６２ａの中心の位置（細線が交差する点、以下、位置Ｋ１という）とレンズ６２ｂの中心位置（細線が交差する点、以下、位置Ｋ２という）とは、左右方向では距離Ｌｘ、上下方向では距離Ｌｙ離れた位置に設けてある。図示しないが、レンズ６２ｃと６２ｄの中心の位置も、レンズ６２ａの位置Ｋ１と６３ｂの位置Ｋ２に各々相対するように即ち図７の左右方向及び上下方向で同一位置に設けられており、当然に前記左右方向及び上下方向の距離も各々同じＬｘ、Ｌｙとなっている。
また原木Ｐがアーム７、９上での最終位置である後述する第３の位置に到達した時に、原木Ｐの両木口に形成された各々の孔Ｔが到達すべき点Ｋ３（図７で細線が直交する点）は、同じく図７でレンズ６２ａ、６２ｂ側だけで示すが、Ｋ２に対し左右方向では距離Ｍｘ、上下方向では距離Ｍｙ離れた位置に設定してあり、レンズ６２ｃと６２ｄに対しても図７のＫ３と左右方向及び上下方向で同一位置にＫ３として設定されている。
尚、これら距離Ｌｘ、Ｌｙ、Ｍｘ、Ｍｙの各値は、予め後述する制御器９１に入力されている。
【００１４】
またＣＣＤカメラ６３ａと６３ｂは、図１の上下方向で各々レンズ６２ａ、６２ｂから距離Ｌ１離れた一点鎖線Ｘａ−Ｘａの位置でピントが合うように、一方ＣＣＤカメラ６３ｃ、６３ｄは同じく図１の上下方向で各々レンズ６２ｃ、６２ｄから距離Ｌ１離れた一点鎖線Ｙａ−Ｙａの位置でピントが合うように、設定されている。
更にはこれら撮像装置４５、４７及び４９、５１は、初期状態で以下に示す位置に待機させておく。即ち相対する撮像装置４５、４７と撮像装置４９、５１との間の任意の位置、例えばアーム７とアーム９との間で中央の基点となる位置から各々等しい任意距離離れた位置、即ち図１で一点鎖線Ｘ−Ｘ及び一点鎖線Ｙ−Ｙで示す仮想線を設定しておく。これら仮想線において、一点鎖線Ｘ−Ｘと、ＣＣＤカメラ６３ａ、６３ｂのレンズ６２ａ、６２ｂとの距離及び一点鎖線Ｙ−Ｙと、ＣＣＤカメラ６３ｃ、６３ｄのレンズ６２ｃ、６２ｄとの間の距離が等しくなる位置に各サーボモータ６０ａ、６０ｂを作動させ、撮像装置４５、４７及び４９、５１を待機させるのである。
【００１５】
以上の様に設けられた撮像装置４５、４７及び４９、５１の位置は、サーボモータ６０ａ、６０ｂの作動により変化するが、後述する様に一点鎖線Ｘ−Ｘ及び一点鎖線Ｙ−Ｙへの接近及び離隔を一体的に且つ同じ量行うので、一点鎖線Ｘ−Ｘ及び一点鎖線Ｙ−Ｙに対する距離の値は常に等しくなる。
またサーボモータ６０ａ、６０ｂの作動による撮像装置４５、４７及び４９、５１の一点鎖線Ｘ−Ｘ及び一点鎖線Ｙ−Ｙに対する距離の値、即ち一点鎖線Ｘ−ＸとＣＣＤカメラ６３ａ、６３ｂのレンズ６２ａ、６２ｂとの間の距離、及び一点鎖線Ｙ−Ｙと、ＣＣＤカメラ６３ｃ、６３ｄのレンズ６２ｃ、６２ｄとの間の距離の情報は、サーボモータ６０ａ、６０ｂに備えたロータリエンコーダにより各々後述する制御器９１に伝達されている。尚、以後、これら各々の前記距離を各々現在位置距離という。
【００１６】
また各撮像機構４５、４７、４９、５１の近傍には、各々木口に対し斜めの方向から光を当てるように光源（図示せず）が備えられており、木口に例えば直径３０ｍｍ程度で形成された孔Ｔは黒色の丸に、その他の部分は明るく見える。上記各撮像機構では、木口Ｐａ、Ｐｂに照射された光をレンズで集光してＣＣＤ撮像素子に像を結ぶが、ＣＣＤ撮像素子では前記黒色とその他の明るい部分とが区別即ち２値化されるようにしきい値が設定されており、これら２値化された像の明暗に対応して信号が後述する画像処理演算手段の１例であるコントローラ９０に伝えられる。コントローラ９０としては例えば株式会社キーエンス製の型式ＣＶ−５００を用い、絶対位置方式によりパターンサーチを行いＣＣＤ撮像素子上での黒色の丸の位置を特定する。これら特定された位置の情報はコントローラ９０から制御器９１に伝達される。
尚、各ＣＣＤカメラ６３ａ、６３ｂ、６３ｃ、６３ｄとしては例えば株式会社キーエンス製の型式ＣＶ−０５０を用いるが、これらカメラの各レンズ６２ａ、６２ｂ、６２ｃ、６２ｄの中心（例えばレンズ６２ａ、６２ｂでは、図７で位置Ｋ１、Ｋ２）は、各々のＣＣＤカメラ６３ａ、６３ｂ、６３ｃ、６３ｄの撮像素子の中心（例えば後述する図１４、１５における０の点）とが一致するように構成されている。
【００１７】
一方、スライド部材１５、１７に各々備えた支持部２３、２５が図１で示す原木受取位置となる原位置に待機した状態で、後述するように原木Ｐを原木当接部１９、２１で各々支持したことを検出するために、図１では実線で図３では点線で示す位置にリミットスイッチ６７を基台（図示せず）に設ける。
また図３に示すように回転軸１ａ及び１ｂの上方には、原木Ｐが滑り落ちることにより支持部２３、２５の原木当接部１９、２１上へと案内する２本の傾斜したバー６５、６６（図１では二点鎖線で示す）を、後述する図８に示すように、バー６５の外側の端縁６５ａが前記一点鎖線Ｘ−Ｘと同一線上に位置し、バー６６の外側の端縁６６ａが前記一点鎖線Ｙ−Ｙと同一線上に位置するように設ける。
更には、バー６５、６６の原木移動方向（図１、２では左から右へ向かう方向）の上手側の位置には、図３に示すように、バー６５、６６の下方の実線で示す位置と点線で示す位置とをの間を往復動自在の棒状の２本のストッパ６９を２本のバー６５、６６の間で且つ各々バー６５、６６に接近した位置に設け、点線の位置にある時には原木Ｐの滑り落ちることが阻止される。
【００１８】
このストッパ６９の更に前記方向上手側直前には、図３で一点鎖線Ｆ−Ｆより矢印の方向を見た図である図８（図３はアーム７に対応するバー６５だけを示したが図８では説明上両方のバー６５、６６を示す）、図８の平面説明図である図９、図９の一点鎖線Ｇ−Ｇより矢印の方向を見た図である図１０に示すように、原木をバー６５、６６（図９ではバー６５、６６を点線で示す）上で所定の位置に移動させ且つ移動した時の木口の位置を測定するための装置を設ける。
即ち、両バー６５、６６の外側には、各バー６５、６６から互いに等しい距離離れた位置に各々、底部７１ａ、７３ａを図９、図１０で二点鎖線で示すように備えられた案内部材７４で直線状（図８、９では左右方向）に案内されることで、矢印の方向に往復動自在の木口当接部材（以下、当接部材という）７１、７３を、相対して備える。
当接部材７３の当接部材７１と相対する面の下端には、エアシリンダ７５の終端部を連結し、エアシリンダ７５から突出し切った状態のピストンロッド７５ａの先端に補助棒７５ｂを固定し、該補助棒７５ｂの先端を当接部材７１の下端にピン連結する。
またエアシリンダ７５の下方には、基台７７に支持軸７９を固定し、支持軸７９には軸受（図示せず）により回転自在に回転体８１を設ける。回転体８１と各当接部材７１、７３とは、各々バー８３、８５とピン８７により互いに回動自在に連結されている。
これら構成により圧縮空気の注入及び排出によりピストンロッド７５ａがエアシリンダ７５内に入る動きをすると、図９で矢印の方向に回転体８１が回転しつつ両当接部材７１、７３は案内部材７４に案内され互いに等しい距離づつ直線状に接近し、また逆にピストンロッド７５ａがエアシリンダ７５から出る動きをすると、図９で矢印の方向と逆方向に回転体８１が回転しつつ両当接部材７１、７３は互いに等しい距離づつ直線状に遠ざかることになる。
【００１９】
以上のように両当接部材７１、７３は互いに等しい距離づつ直線状に移動し、また各時点での当接部材７１とバー６５との間の距離と、当接部材７３とバー６６との間の距離も常に等しくなる。また、図８、９に示すピストンロッド７５ａがエアシリンダ７５から突出し切った状態即ち両当接部材７１、７３が最大離れた状態から、後述するように当接部材７３がバー６６側へ移動した後停止した際の、図９で示すバー６６の端縁６６ａと当接部材７３との間の距離Ｌ２を検出するために、当接部材７３にはリニアエンコーダ８９の移動自在のメインスケール８９ａを接続する。尚、距離Ｌ２の値は一定ではなく、原木Ｐの繊維方向の長さの違いにより異なるものである。
更には、図１１に示すように電気的に接続され、リミットスイッチ６７、コントローラ９０からの信号、また各サーボモータ３５、３７、４３、４４、６０ａ、６０ｂから各々出される移動量の信号、リニアエンコーダ８９から得られる距離Ｌ２の値により、各サーボモータ３５、３７、４３、４４、６０ａ、６０ｂの作動を後述のように制御する制御器９１を設ける。
【００２０】
本発明の実施の形態は以上のように構成するもので、次のように原木Ｐの芯出しが行なわれる。
最初に各部材を初期位置に待機させる、即ちアーム７及びアーム９を、各々サーボモータ４３及びサーボモータ４４を回転させて、両アーム７、９を水平とした後に（図３ではアーム７だけを示す）各サーボモータ４３及びサーボモータ４４を停止させる。またサーボモータ３５、３７を作動させて雄ねじ３１、３３を回転させ、スライド部材１５、１７を各々図１、図３（図３ではアーム７だけを示す）で示す所定の原木受取位置へ移動待機させる。更にはストッパー６９を図３の点線で示す位置に上昇待機させ、またシリンダ７５のピストンロッド７５ａを出し切った状態とし各当接部材７１、７３を図８、９で示す位置に待機させておく。
前記初期位置に各部材が待機した状態で、予め芯出し装置（図示せず）により芯出しされ、木口のベニヤレースでの切削時に回転中心となる位置に孔Ｔが形成された原木Ｐを、バー６５、６６上へ手作業により乗せる。
そこで原木Ｐは、バー６５、６６上を滑り落ち、２個のストッパー６９に当たり停止する。
【００２１】
次いで手作業の信号により、ピストンロッド７５ａがエアシリンダ７５内に入るように、エアシリンダ７５への圧縮空気の注入及び排出を行なう。そこで、回転体８１が図９の矢印の方向に回転しつつ当接部材７１、７３が互いに接近する向きに等しい距離移動する。
そのため、例えば二点鎖線で示す原木Ｐが図８で２本のバー６５、６６上の当接部材７３よりの位置にあると、上記のように移動する当接部材７１、７３の当接部材７３が最初に原木Ｐの木口Ｐｂに当接され、原木Ｐは図８で右方向に移動させられる。次いで、原木Ｐの木口Ｐａにも当接部材７１が当接されると原木Ｐは当接部材７１、７３に挟まれた状態となって両側から押され移動を阻止される。その結果原木Ｐは、木口Ｐａとバー６５との距離、木口Ｐｂとバー６６との距離が等しい距離になる位置に、即ち図８で２本のバー６５、６６の間の中央の位置と原木Ｐの繊維方向の中央の位置とが一致した状態となる。
また前記当接部材７３の移動によりメインスケール８９ａも一体的に移動し、当接部材７３が停止した時の図９で示したＬ２に相当する長さをリニアエンコーダ８９により測定し、該値を制御器９１に伝達する。
【００２２】
次いで手作業の信号により、ピストンロッド７５ａがエアシリンダ７５から出るように、エアシリンダ７５への圧縮空気の注入及び排出を行なう。そこで、図９に示した方向と逆方向に回転体８１が回転しつつ当接部材７１、７３が互いに遠ざかる向きに等しい距離づつ移動し、ピストンロッド７５ａがエアシリンダ７５から突出し切った状態即ち図８、９に示す状態となって、該移動を停止する。
次いで同じく手作業の信号により、ストッパー６９を図３の実線で示す位置に下降待機させると、原木Ｐは再びバー６５、６６の上を滑り落ち、図３に示すようにバー６５、６６の終端部に至った後、図１２及び図１２の一点鎖線Ｈ−Ｈより矢印の方向を見た図である図１３に示すように、各アーム７、９の支持部２３、２５に乗り移り、原木Ｐの両木口Ｐａ、Ｐｂ側が各々原木当接部１９、２１により支持される。この時原木Ｐがリミットスイッチ６７に当たることで、原木当接部１９、２１により支持されたことが検出され、制御器９１に検出信号が伝達される。
【００２３】
一方制御器９１は、前記リニアエンコーダ８９から伝達されたＬ２の値と前記Ｌ１との値を加えた値と、各ＣＣＤカメラ６３ａ及び６３ｂ、６３ｃ及び６３ｄの現在位置距離とを比較し、前者が後者より大であれば、サーボモータ６０ａ、６０ｂに対し、ＣＣＤカメラ６３ａ及び６３ｂはアーム７から、またＣＣＤカメラ６３ｃ及び６３ｄはアーム９から、各々遠ざかる方向に移動するように作動信号を送り、且つアブソリュート型ロータリエンコーダにより前者と後者とが等しくなったことが検出されれば各々移動を停止する信号を送る。
また逆に前者が後者より小であれば、サーボモータ６０ａ、６０ｂに対し、ＣＣＤカメラ６３ａ及び６３ｂ、６３ｃ及び６３ｄが前記とは逆方向に移動するように作動信号を送り、且つ前者と後者とが等しくなったことが検出されれば、各々移動を停止する信号を送る。
その結果、原木当接部１９、２１により支持された原木Ｐの両木口Ｐａ、Ｐｂに当てられた光りの反射光が、ピントが合った状態で各々ＣＣＤカメラ６３ａ、６３ｃの撮像素子上に像を結び、該両木口Ｐａ、Ｐｂに形成された孔Ｔが例えば木口Ｐａは図１４に示すように木口Ｐｂは図１５に示すように各々黒色の丸９３、９５として、またその他の部分は明るい状態で写し出される。
前記リミットスイッチ６７からの検出信号が伝達された後、これら撮像素子上の像の情報は、前記のようにコントローラ９０に伝えられ、各々のＣＣＤ撮像素子上での中心０に対し、黒色の丸９３は図１４に示すようにｘ１、ｙ１の値が、また、黒色の丸９５は図１５に示すようにｘ２、ｙ２の値が求められるのである。
【００２４】
コントローラ９０から前記ｘ１、ｙ１及びｘ２、ｙ２の値の情報が伝達された制御器９１は、ＣＣＤカメラ６３ａの図１４で示す撮像素子上の黒色の丸９３が、原木Ｐが移動し木口ＰａがＣＣＤカメラ６３ｂに相対する位置に至った時に、ＣＣＤカメラ６３ｂの撮像素子上で中央に位置し、且つＣＣＤカメラ６３ｃの図１５で示す撮像素子上の黒色の丸９５が、原木Ｐが移動し木口ＰｂがＣＣＤカメラ６３ｄに相対する位置に至った時に、ＣＣＤカメラ６３ｄのレンズ６２ｂの中央に位置するために必要な移動量を各々算出し、この結果から各アーム７、９上でのスライド部材１５、１７の先端側（図１２で右側）への各々の移動量と、図１３における面でのアーム７、９の各々の回転すべき角度とを算出する。
前記の場合、スライド部材１５はアーム７の先端方向即ち図１で右方向に（Ｌｘ＋ｘ１）、下方に（Ｌｙ−ｙ１）移動し、スライド部材１７はアーム９の先端方向即ち図１で右方向に（Ｌｘ−ｘ２）、下方に（Ｌｙ＋ｙ２）移動すれば良いことになり、これらに対応する前記各々の移動量と回転すべき角度とを算出する。
【００２５】
次に制御器９１は、前記算出された移動量と回転すべき角度に基づき、サーボモータ３５、３７に作動信号を出し、雄ねじ３１、３３を回転させてスライド部材１５をアーム７上で、スライド部材１７をアーム９上で各々算出された量移動させアブソリュート型ロータリエンコーダにより該量の移動を各々検出した後各別に停止させ、またサーボモータ４３、４４に作動信号を出しウォーム４１を回転させ、図１６ではアーム７だけを示すが、ウォームホイール３９を軸１ａ及び１ｂを中心として時計回りに回動させ、アーム７、９を各々算出された角度回転させアブソリュート型ロータリエンコーダにより該角度の回転を各々検出した後、各別に停止させる。
その結果、原木当接部１９、２１で支持された原木Ｐは、図１６ではアーム７だけを示してあるが、木口ＰａがＣＣＤカメラ６３ｂに、木口ＰｂがＣＣＤカメラ６３ｄに相対する位置に移動する。ＣＣＤカメラ６３ｂ、ＣＣＤカメラ６３ｄは前記のように、サーボモータ６０ａ、６０ｂにより各々木口ＰａまたはＰｂにピントが合う位置に移動待機しているので、原木Ｐの両木口Ｐａ、Ｐｂに当てられた光りの反射光が、ピントが合った状態で各々ＣＣＤカメラ６３ｂ、６３ｄの撮像素子上に像を結び、木口Ｐａは図１７に示すように木口Ｐｂは図１８に示すように各々黒色の丸９３、９５として、またその他の部分は明るい状態で写し出される。
【００２６】
ここで図１７、１８で示すようにＣＣＤカメラ６３ｂ、６３ｄの撮像素子上で黒色の丸９３、９５が中央（図１７、１８における０の点）に位置しない理由は、ＣＣＤカメラ６３ａ、６３ｃのレンズ６２ａ、６２ｃの焦点距離が前記のように１６ｍｍであり分解能が低く、前記ｘ１、ｙ１、ｘ２、ｙ２の値が凡その値となってしまうためである。
前記サーボモータ３５、３７、４３、４４を作動させ次いで各々を停止させる信号が出された信号により、これら撮像素子上の像の情報は、前記と同様に画像処理されてコントローラ９０に伝えられ、各々のＣＣＤ撮像素子上での中心０に対し、黒色の丸９３は図１７に示すようにｘ３、ｙ３の値が、また、黒色の丸９５は図１８に示すようにｘ４、ｙ４の値が求められるのである。
コントローラ９０から前記ｘ３、ｙ３及びｘ４、ｙ４の値の情報が伝達された制御器９１は、更に原木Ｐがアーム７、９の先端側（図１６では右側）の最終位置に到達した時に、図１７で示すように検出されたＣＣＤカメラ６３ａの撮像素子上の黒色の丸９３と、図１８で示すように検出されたＣＣＤカメラ６３ｃの撮像素子上の黒色の丸９５とが共に、前記Ｋ３に相対する位置に至るために必要な移動量を算出し、この移動量から各アーム７、９上でのスライド部材１５、１７の更に前記先端側への各々の移動量と、図１６における面でのアーム７、９の各々の回転すべき角度とを算出する。
【００２７】
前記の場合、スライド部材１５はアーム７の先端方向即ち図１６で右方向に（Ｍｘ＋ｘ３）、上方に（Ｍｙ＋ｙ３）移動し、スライド部材１７はアーム９の先端方向即ち図１６で右方向に（Ｍｘ−ｘ４）、上方に（Ｍｙ−ｙ４）移動すれば良いことになり、これらに対応する前記各々の移動量と回転すべき角度とを算出する。
次に制御器９１は、前記算出された移動量と回転すべき角度に基づき、同様にサーボモータ３５、３７に作動信号を出し、雄ねじ３１、３３を回転させてスライド部材１５をアーム７上で、スライド部材１７をアーム９上で各々算出された量移動させアブソリュート型ロータリエンコーダにより該量の移動を各々検出した後に各別に停止させ、またサーボモータ４３、４４に作動信号を出しウォーム４１を回転させ、図１９ではアーム７だけを示すが、ウォームホイール３９を軸１ａ及び１ｂを中心として矢印の方向即ち反時計回りに回動させ、アーム７、９を各々算出された角度回転させアブソリュート型ロータリエンコーダにより該角度の回転を各々検出した後に各別に停止させる。
その結果、原木当接部１９、２１で支持された原木Ｐは、図１６に対応する図１９ではアーム７側だけを示すが、木口Ｐａ及びＰｂの孔Ｔが各々Ｋ３に相対する状態で最終位置に到達する。
以上のような前記発明の実施の形態では、第１位置においてはＣＣＤカメラ６３ａ及び６３ｃのレンズ６２ａ及び６２ｃの焦点距離を小ととしたため、木口の広い面積を撮像素子上に像として写し出すことができることができ、ほぼ確実に孔Ｔの位置を検出できる。次いで原木Ｐを第２位置へ移動させるが、第２位置ではＣＣＤカメラ６３ｂ及び６３ｄのレンズ６２ｂ及び６２ｄの焦点距離を大としたため、写し出すことができる面積は狭くなるものの、第１位置で確実に孔Ｔの位置を検出しておりこの位置の情報により該狭い面積の中に孔Ｔが位置するように原木Ｐを移動させることができる。ただ第１位置での前記レンズ６２ａ、６２ｃは焦点距離が小であるため、分解能は低く検出された位置の精度が悪いが、これを第２位置で焦点距離の大きく分解能が高いレンズ６２ｂ及び６２ｄを用いて検出することで、孔Ｔの位置を精度良く検出することができるのである。
【００２８】
以上のように最終位置に到達した原木Ｐは、該最終位置で原木Ｐを保持する位置と、ベニヤレースのスピンドルの軸中心線上に、保持した原木Ｐの木口Ｐａ及びＰｂの孔Ｔの中心が一致する位置との間を往復する往復搬送体により搬送する。
このような往復搬送体としては例えば、前記最終位置に到達し原木当接部１９、２１で支持された原木Ｐに対し、図１では示されていないが図１の一点鎖線Ｒ−Ｒより矢印の方向を見た図に相当する図２０、図２０の一点鎖線Ｓ−Ｓより矢印の方向を見た図である図２１に示すように構成する。
即ち、公知のベニヤレースのスピンドルと同様に図２０に示した矢印の方向に往復動自在で、且つ図２１で示す矢印の方向に回動自在の第１スピンドル９７、９９に各々腕部１０１、１０３を固定する。尚、図示しないが第１スピンドル９７、９９には、一体的に回転させるためのサーボモータと、第１スピンドル９７又は９９の回転角度を検出するためのアブソリュート型ロータリエンコーダを設けてある。
各々腕部１０１、１０３の先端で且つ原木Ｐ側には、多数の突刺部１０５、１０７を有し、図２１では腕部１０１側だけを示すが、円弧状の切欠き凹部１０９ａ、１１１ａを設けた保持体１０９、１１１を備える。
この円弧状の切欠き凹部１０９ａ、１１１ａは、腕部１０１、１０３が図２０及び図２１で実線で示す初期位置に待機した時、図２１に示すように保持部１０９の切欠き凹部１０９ａの円弧を一部とする仮想円の中心Ｑ（黒丸で示す）と前記Ｋ３とが一致するように各々部材の長さを設定する。保持体１１１の切欠き凹部１１１ａも同様の位置関係となるように構成する。
【００２９】
一方、図２１の位置から第１スピンドル９７、９９が回動することで腕部１０１が例えば９０度回動し一点鎖線で示す位置で停止した時、切欠き凹部１０９ａの円弧を一部とする仮想円の中心Ｑとベニヤレースのスピンドル１１３の回転中心とが一致するようにベニヤレースを配置する。尚、１１５はベニヤレースの鉋台（図示せず）に固定された原木切削用刃物である。
また前述のようにアーム７、９上で最終位置に到達した時に、原木に当たる位置に図２０では実線で、図２１では二点鎖線で示すようにリミットスイッチ１１７を設けて、このリミットスイッチ１１７からの原木検出信号で各部材を後述のように制御する制御器（図示せず）を設ける。
往復搬送体としては例えば以上のように構成し、次のように原木Ｐをベニヤレースに搬送するのである。
【００３０】
即ち、腕部１０１、１０３を図２０及び図２１に実線で示す前記初期位置で待機させておき、前述のようにアーム７、９上で原木Ｐが最終位置に到達したことがリミットスイッチ１１７により検出されると、最初に第１スピンドル９７、９９を図２０で互いに接近する方向に移動させる。そこで図２２に示すように、保持部１０９が原木Ｐの木口Ｐａに、保持部１１１が原木Ｐの木口Ｐｂに圧接され、各々突刺部１０５、１０７が突刺され原木Ｐが挟持される。
次いで原木当接部１９、２１を若干量下げるべく、図１９ではアーム７だけを示してあるが時計回りにアーム７、９を予め設定された若干量回動させるようにサーボモータ４３、４４を作動させる。そこで原木Ｐは原木当接部１９、２１から離れ、保持部１０９、１１１だけで保持されることになる。
前記アーム７、９の回動後、第１スピンドル９７、９９を、図２１では第１スピンドル９７側だけを示すが、時計回りに９０度回動させ腕部１０１を一点鎖線で示す位置で停止させる。次いでベニヤレースの両スピンドル１１３、１１３を互いに接近する方向に移動させると、両スピンドル１１３、１１３の回転中心と切欠き凹部１０９ａ、１１１ａの前記中心Ｑ即ち原木Ｐの両木口Ｐａ、Ｐｂに形成した孔Ｔとが一致した状態で原木Ｐが両スピンドル１１３、１１３により保持されることになる。次いで、第１スピンドル９７、９９を互いに遠ざかる方向に移動させた後、前記とは逆即ち図２１で反時計回りに回転させて初期位置で待機させ、両スピンドル１１３、１１３の回転により原木Ｐを回転させて刃物１１５により切削を行うのである。
【００３１】
一方、原木Ｐを上記往復搬送体でベニヤレースへ搬送した後、制御器９１からの作動信号で、サーボモータ３５、３７、４３、４４を各々作動させて、スライド部材１５、１７を回動軸１ａ、１ｂ側へ、またアーム７、９を回動させ共に図３に示すように水平な状態となる前記初期位置で待機させ、以下同様に原木の両木口の孔Ｔを検出し各部材を作動させるのである。
【００３２】
次に本発明の変更例を説明する。
１、前記発明の実施の形態では、第２位置でＣＣＤカメラ６３ｂ、６３ｄにより孔Ｔの位置を検出した情報で、木口Ｐａ及びＰｂの孔Ｔが各々Ｋ３に相対する状態の最終位置に至るべく、再びアーム７、９を回動させ且つスライド部材１５、１７を各々アーム７、９の先端方向移動させたが、次のように作動させても良い。
図２３に示す様に、前記発明の実施の形態における第３の位置であるＫ３の位置にＣＣＤカメラ６３ｂ、６３ｄを相対して設け、その他の部材は前記発明の実施の形態と同様に配置し、各部材を以下の様に作動させるのである。
即ち前記発明の実施の形態と同様に図１２及び図１３に示した位置で、ＣＣＤカメラ６３ａ、６３ｃにより原木Ｐの木口Ｐａ及びＰｂの孔Ｔの位置の情報を得る。
次いで該得られた位置の情報により、木口Ｐａ及びＰｂの孔Ｔが各々Ｋ３に相対する位置に移動するために必要な移動量を各々算出する。例えば図１４及び図１５に示した様に各黒丸が位置したとすると、スライド部材１５はアーム７の先端方向に（Ｌｘ＋Ｍｘ＋ｘ１）、上方に（Ｍｙ−Ｌｙ＋ｙ１）移動し、スライド部材１７はアーム９の先端方向に（Ｌｘ＋Ｍｘ−ｘ２）、下方に（Ｍｙ−Ｌｙ−ｙ２）移動すれば良いことになる。これらの値から、アーム７及び９の回動角度とアーム７及び９上でのスライド部材１５及び１７の各移動量とを算出する。
次にこれら値に対応させて各サーボモータ３５、３７、４３、４４を各々作動させ且つ各別に停止させると、アーム７側だけで示すが図２３に示す様に原木Ｐの木口Ｐａ及びＰｂがＣＣＤカメラ６３ｂ、６３ｄに対応する位置に移動する。
そこで原木Ｐの両木口Ｐａ、Ｐｂが、各々ＣＣＤカメラ６３ｂ、６３ｄの撮像素子上に像を結ぶ。尚、この場合も前記発明の実施の形態と同様の理由で、ＣＣＤカメラ６３ｂ、６３ｄの撮像素子上で黒色の丸が中心０に位置しない。
これら撮像素子上の像の情報は、前記と同様に画像処理されて、各々位置の情報を得ることができる。
【００３３】
次いで該得られた位置の情報により、木口Ｐａ及びＰｂの孔Ｔが各々Ｋ３の位置即ち前記中心０に移動するために必要な移動量を各々算出する。例えば図１７及び図１８に示した様に各黒丸が位置したとすると、スライド部材１５はアーム７の先端方向に（ｘ３）、上方に（ｙ３）移動し、スライド部材１７はアーム９の先端から遠ざかる方向に（ｘ４）、下方に（ｙ４）移動すれば良いことになる。
これらの値から、同様にアーム７及び９の回動角度とアーム７及び９上でのスライド部材１５及び１７の各移動量とを算出する。
次にこれら値に対応させて各サーボモータ３５、３７、４３、４４を各々作動させ且つ各別に停止させると、原木当接部１９、２１で支持された原木Ｐは、図１６に対応する図２３にはアーム７側だけを示すが、木口Ｐａ及びＰｂの孔Ｔが各々Ｋ３にほぼ正確に相対する最終状態に至る。
前記最終状態に至った原木Ｐは、例えば前記発明の実施の形態の説明で示した保持体１０９、１１１等からなる往復搬送体によりベニヤレースへと搬送するのである。
この場合、保持体１０９、１１１等からなる往復搬送体は、図２３の実線で示す位置で待機させておき、原木Ｐが最終状態に至ってから、ＣＣＤカメラ６３ａ、６３ｂ、６３ｃ及び６３ｄを原木Ｐから遠ざかる方向に移動させたのち、図２３の一点鎖線で示す位置に回動させ、前記発明の実施の形態と同様の作動で保持体１０９、１１１により原木Ｐを保持し、ベニヤレースのスピンドル１１３、１１３への搬送、スピンドル１１３、１１３の互いに接近する方向への移動による原木Ｐの保持と順次行なうのである。
【００３４】
２、前記発明の実施の形態では、原木を保持する保持部材の１例である原木当接部材１９、２１を移動させるための移動装置として、原木当接部材１９、２１を備えたスライド材１５、１７を、アーム７、９を回動させつつアーム７、９上を移動させたが、要は保持部材を、第１位置、第２位置、第３位置を通る垂直仮想面において、任意の方向と任該意の方向と直交する方向の両方向に、各々独立して移動量を制御可能として移動させる移動装置であれば良い。
即ち例えば原木当接部材１９、２１を備えたスライド部材１５、１７を、垂直方向に移動させつつ水平方向に移動させても良い。
この場合例えば、側面説明図である図２４、図２４の一点鎖線Ｊ−Ｊより矢印の方向を見た部分正面説明図である図２５、図２４の一点鎖線Ｎ−Ｎより矢印の方向を見た一部断面図である平面説明図である図２６に示す様に構成する。
１１９、１２１は、前記と同様の原木当接部材１９、２１を備えたスライド部材１５、１７を水平移動自在に支持するアームであり、アーム７、９と同様に構成されている。
即ち例えばアーム１１９は、両側壁７ｂ、底板７ｃ、当板７ｄ、リニアガイド１１、支持部材２３、雌ねじ（図示せず）に挿通された雄ねじ３１、第４作動部材の１例となるサーボモータ３５を備え、サーボモータ３５の回転で雄ねじ３１が回転することによりスライド部材１５がリニアガイド１１に沿って往復移動可能となっている。
またアーム１１９及びアーム１２１は、間隔をおいて設けられた第３支柱１２４及び１２３の内側に設けられ、以下の構成により各々上下動自在となっている。
【００３５】
即ち第３支柱１２４は２本の支柱１２４ａ及び１２４ｂからなり、第３支柱１２４を挟んでアーム１１９と反対側には、第３作動部材の１例であるサーボモータ１２５により回転及び停止自在の第２雄ねじ１２７が挿通された雌ねじ１２９が配置されている。尚、１２０は、支柱１２４ａ、１２４ｂを連結する平板、１３０は、第２雄ねじ１２７をねじが形成されていない部分で回転自在に保持する軸受である。
雌ねじ１２９とアーム１１９とは上下に間隔をおいて設けられた２個の連結部材１３１により連結されているが、支柱１２４ａ及び１２４ｂと連結部材１３１とは、平面説明図である図２６に示す様に互いに噛み合う形状に形成されている。
そのためアーム１１９は、第２雄ねじ１２７の回転及び停止しにより、支柱１２４ａ及び１２４ｂに沿って上下動しまた停止することができる。
更には図２５に示す様に、レンズ１３２ａ、１３２ｂを有する撮像装置としてのＣＣＤカメラ１３３ａ、１３３ｂが、レンズ１３２ａの中心の位置（細線が交差する点、以下、位置Ｋ４という）とレンズ１３２ｂの中心位置（細線が交差する点、以下、位置Ｋ５という）が、垂直方向に設定された所定間隔Ｌ３をおいた状態で基台（図示せず）に備えられている。
第３支柱１２３には、雄ねじ３３及び第４作動部材の１例となるサーボモータ３７等からなるアーム１２１、第２雄ねじ１３７、第３作動部材の１例であるサーボモータ１３５、軸受１３８、雌ねじ１３９、レンズ１３２ｃ、１３２ｄを有する撮像装置としてのＣＣＤカメラ１３３ｃ、１３３ｄ及び２個の連結部材１４３が、図２４に示す様に、アーム１１９、第３支柱１２４、第２雄ねじ１２７、雌ねじ１２９、軸受１３０、ＣＣＤカメラ１３３ａ、１３３ｂ及び２個の連結部材１３１と面対称の位置に各々設けられている。
【００３６】
また図２５に示す様に、後述する各部材の作動によりアーム１１９、１２１上の原木Ｐが移送され、最終位置に到達した時に、原木Ｐの両木口に形成された各々の孔Ｔが到達すべき点Ｋ６（図２５で細線が直交する点）を、Ｋ４、Ｋ５を通るの垂直線上でＫ５からＬ４離れた上方に設定する。尚、これらＫ４、Ｋ５及びＫ６の位置の情報は、前記実施の形態と同様に予め制御器（図示せず）に入力されている。
更には図示はしないが、ＣＣＤカメラ１３３ａ及び１３３ｂは、前記実施の形態でＣＣＤカメラ６３ａ、６３ｂを備える装置として図５、６で示した装置と類似した保持装置（図５では水平方向に間隔をおいて備えたが、本変更例では垂直方向に間隔をおいて備える）に、同じく両カメラの各レンズ１３２ａ、１３２ｂからアーム１１９側に等しい距離離れた位置に有る物体にピントが合う状態で備える。この保持装置は、支持台５８と同様に、アーム１１９に対し接近及び離隔する方向にサーボモータ（図示せず）により移動自在とする。
またＣＣＤカメラ１３３ｃ及び１３３ｄも同様に構成し、サーボモータ（図示せず）によりアーム１２１に対し一体的に接近及び離隔する方向に移動自在とする。
尚、図２４、２５において点線で示す６５、６６はバー、６７はリミットスイッチで、前記実施の形態と同様の作用・機能を有している。
以上の構成において、図２５に示す状態に各部材が待機した初期状態で、前記実施の形態と同様に図８乃至図１０に示す装置により得られた情報により、原木Ｐの木口Ｐａ及び木口Ｐｂにピントが合う位置に、ＣＣＤカメラ１３３ａ及び１３３ｂと、ＣＣＤカメラ１３３ｃ及び１３３ｄを移動させておく。
【００３７】
この状態で、図２５に点線で示す様に原木Ｐが、バー６５、６６により原木当接部１９、２１へと案内され、リミットスイッチ６７に当たり、原木Ｐの木口Ｐａ及び木口Ｐｂが各々、カメラ１３３ａと１３３ｃの前に到達したことが検知される。
そこで前記実施の形態と同様に、原木Ｐの両木口Ｐａ、Ｐｂに当てられた光りの反射光が、ピントが合った状態で各々ＣＣＤカメラ１３３ａ、１３３ｃの撮像素子上に像を結び、該両木口Ｐａ、Ｐｂに形成された孔Ｔが各々黒色の丸として、またその他の部分は明るい状態で写し出される。
これら撮像素子上の像の情報はコントローラ（図示せず）に伝えられ、前記実施の形態と同様に、Ｋ４即ち各々のＣＣＤカメラ１３３ａ、１３３ｃの撮像素子上での中心０に対し、黒色の丸の座標の値が求められる。
この座標の値により制御器９１は、前記実施の形態と同様に、両木口Ｐａ、Ｐｂに形成された孔Ｔが共にＫ５即ち各々のＣＣＤカメラ１３３ｂ、１３３ｄの撮像素子上での中心０に相対する位置に移動するために必要な移動量を各々算出しする。例えば前記実施の形態と同様に、該両木口Ｐａ、Ｐｂの各孔Ｔが木口Ｐａは図１４に示すようにまた木口Ｐｂは図１５に示すように写し出された場合、スライド部材１５は図２５で右方向にｘ１、上方に（Ｌ３＋ｙ１）移動し、スライド部材１７は図２５で左方向にｘ２、上方に（Ｌ３−ｙ２）移動すれば良いことになる。
【００３８】
そこで制御器は、サーボモータ３５にはｘ１、サーボモータ１２５には（Ｌ３＋ｙ１）の量、またサーボモータ３７にはｘ２、サーボモータ１３５には（Ｌ３−ｙ２）の量を各々必要な方向に移動する様に作動信号を出し、各々雄ねじ３１、３３、１２７及び１３７を回転させた後、各別に停止させる。
その結果、アーム１１９、１２１は上昇し、またアーム１１９、１２１上でスライド部材１５、１７が水平移動した後停止し、原木当接部１９、２１で支持された原木Ｐは、木口ＰａがＣＣＤカメラ１３３ｂに、木口ＰｂがＣＣＤカメラ１３３ｄに相対する位置に移動する。
そこでＣＣＤカメラ１３３ｂ、ＣＣＤカメラ１３３ｄの撮像素子上で各孔Ｔが黒色の丸として表れる。
これら撮像素子上の像の情報は、前記と同様にコントローラに伝えられ、各々のＣＣＤ撮像素子上でのＫ５に対応する中心０に対し、黒色の丸の座標の値が求められる。
この座標の値により制御器９１は、前記実施の形態と同様に、両木口Ｐａ、Ｐｂに形成された孔Ｔが共にＫ６に相対する位置に移動するために必要な移動量を各々算出しする。例えば前記実施の形態と同様に、該両木口Ｐａ、Ｐｂの各孔Ｔが木口Ｐａは図１７に示すようにまた木口Ｐｂは図１８に示すように写し出された場合、スライド部材１５は図２５で右方向にｘ３、上方に（Ｌ４＋ｙ３）移動し、スライド部材１７は図２５で左方向にｘ４、上方に（Ｌ４−ｙ４）移動すれば良いことになる。
そこで制御器は、サーボモータ３５にはｘ３、サーボモータ１２５には（Ｌ４＋ｙ３）の量、またサーボモータ３７にはｘ４、サーボモータ１３５には（Ｌ４−ｙ４）の量を各々必要な方向に移動する様に作動信号を出し、各々雄ねじ３１、３３、１２７及び１３７を回転させた後、各別に停止させる。
その結果、アーム１１９、１２１は上昇し、またアーム１１９、１２１上でスライド部材１５、１７が水平移動した後停止し、原木当接部１９、２１で支持された原木Ｐは、木口Ｐａ及びＰｂの孔Ｔが各々Ｋ６にほぼ相対する状態で最終位置に到達する。
以上のように最終位置に到達した原木Ｐは、例えば前記発明の実施の形態の説明で示した保持体１０９、１１１等からなる往復搬送体によりベニヤレースへと搬送する。
【００３９】
尚、本変更例においても図２３を用いて説明した変更例と同様に、ＣＣＤカメラ１３３ｂ、ＣＣＤカメラ１３３ｄをＫ６に相対する位置に各々設けて実施しても良い。
即ち最初にＫ４の位置でＣＣＤカメラ１３３ａ、１３３ｃにより原木Ｐの木口の孔の位置を検出し、該検出した情報により雄ねじ３１、３３及び雄ねじ１２７、１３７を各々所定量回転させ、原木をＫ５の位置で停止させることなくＫ６に相対する位置まで移動させる。次いでＣＣＤカメラ１３３ｂ、カメラ１３３ｄにより原木Ｐの木口の孔の位置を検出し、該検出した情報により同じく雄ねじ３１、３３及び雄ねじ１２７、１３７を各々所定量回転させ、両木口の孔がＫ６により精度の良く対応する位置に原木Ｐを移動させるのである。
【００４０】
３、原木を保持する保持部材としては、前記発明の実施の形態のように原木を下方から支持する構成の他、原木を把持爪等により上方から保持する構成であっても良い。
４、前記発明の実施の形態では、原木が撮像装置の１例であるＣＣＤカメラ６３ａ、６３ｂ、６３ｃ、６３ｄのレンズ６２ａ、６２ｂ、６２ｃ、６２ｄの前方に到達する前に、木口Ｐａ、Ｐｂとの間の距離を距離測定装置の１例であるリニアエンコーダ８９により予め測定したが、各ＣＣＤカメラ６３ａ、６３ｂ、６３ｃ、６３ｄの前方に原木が到達した時に、図８乃至図１０で示したリニアエンコーダ８９等の機構により同様に測定し、且つ測定した情報によりサーボモータ６０ａ、６０ｂ等の移動装置によりＣＣＤカメラ６３ａ、６３ｂ、６３ｃ、６３ｄを木口に接近又は離隔する方向に移動させるようにしても良い。
５、木口に付けるマークとしては、前記孔Ｔの他に黒色のインクの丸印等、ＣＣＤカメラ等の撮像装置で判別可能であれば何でも良い。
６、撮像装置としては、ＣＣＤカメラ等、光の情報を電気信号に変えることができる装置であれば何でも良い。
７、該距離測定装置としては、例えばＣＣＤカメラ６３ａ、６３ｂ、６３ｃ、６３ｄの近傍にオートフォーカス機構を備えた距離測定用カメラを設け、該オートフォーカス機構により得られた木口までの距離の値に応じてＣＣＤカメラ６３ａ、６３ｂ、６３ｃ、６３ｄを木口に接近又は離隔する方向に移動させても良い。
８、ＣＣＤカメラのレンズと木口との間の第１距離を測定する距離測定装置として図８乃至図１０で示した装置では、原木Ｐの木口Ｐａ、Ｐｂを木口当接部材７１、７３により押して、図８で２本のバー６５、６６の間の中央の位置と原木Ｐの繊維方向の中央の位置とが一致した状態としたが、原木Ｐを押さず該第１距離を各々異なった値として測定し、該値に応じて撮像素子上に像を結ぶように各々ＣＣＤカメラを移動させても良い。
【００４１】
【発明の効果】
以上のように本発明では、第１位置でレンズの焦点距離を小としたＣＣＤカメラ等の撮像装置で、木口のマークの位置の情報を得、次いで第２位置で焦点距離を大としたＣＣＤカメラ等の撮像装置で、木口のマークの位置の情報を得るよう構成したので、第１位置においては木口の広い面積を撮像素子上に像として写し出しほぼ確実に孔Ｔの位置を検出できる。また次いで原木Ｐを第２位置へ移動させるが、第２位置では写し出すことができる面積は狭くなるものの、第１位置で検出した孔Ｔの位置の情報により該狭い面積の中に孔Ｔが位置するように原木Ｐを移動させることができる。ただ第１位置でのレンズは分解能が低く検出された位置の精度が悪いが、これを第２位置で分解能が高いレンズを用いて検出することで、孔Ｔの位置を精度良く検出することができるのである。
そのため木口に形成された孔等のマークの位置を撮像装置の撮像素子上での位置をより正確に検出することができ、ベニヤレースでの歩留りを向上させることができる。
【図面の簡単な説明】
【図１】発明の実施の形態の平面説明図である。
【図２】図１の一点鎖線Ａ−Ａより矢印の方向を見た図である。
【図３】図１の一点鎖線Ｂ−Ｂより矢印の方向を見た図である。
【図４】図１の一点鎖線Ｃ−Ｃより矢印の方向を見た図である。
【図５】図１の一点鎖線Ｄ−Ｄより矢印の方向を見た側面説明図である。
【図６】図５の一点鎖線Ｅ−Ｅより矢印の方向を見た平面説明図である。
【図７】図３におけるレンズ６２ａの中心の位置Ｋ１と、レンズ６２ｂの中心位置Ｋ２と、原木Ｐの両木口に形成された各々の孔が最終位置で到達すべき点Ｋ３との位置関係の説明図である。
【図８】図３で一点鎖線Ｆ−Ｆより矢印の方向を見た図である。
【図９】図８の平面説明図である。
【図１０】図９の一点鎖線Ｇ−Ｇより矢印の方向を見た図である。
【図１１】制御器９１と各部材の電気的な接続状態の説明図である。
【図１２】発明の実施の形態の作動説明図である。
【図１３】図１２の一点鎖線Ｈ−Ｈより矢印の方向を見た図である。
【図１４】撮像素子上に写し出された木口Ｐａの孔の位置の説明図である。
【図１５】撮像素子上に写し出された木口Ｐｂの孔の位置の説明図である。
【図１６】発明の実施の形態の作動説明図である。
【図１７】撮像素子上に写し出された木口Ｐａの孔の位置の説明図である。
【図１８】撮像素子上に写し出された木口Ｐｂの孔の位置の説明図である。
【図１９】発明の実施の形態の作動説明図である。
【図２０】原木の往復搬送体の正面説明図である。
【図２１】図２０の一点鎖線Ｓ−Ｓより矢印の方向を見た説明図である。
【図２２】原木の往復搬送体の作動説明図である。
【図２３】変更例の正面説明図である。
【図２４】変更例の側面説明図である。
【図２５】図２４の一点鎖線Ｊ−Ｊより矢印の方向を見た部分正面説明図である。
【図２６】図２４の一点鎖線Ｎ−Ｎより矢印の方向を見た一部断面図である平面説明図である。
【図２７】従来装置の要部の側面説明図である。
【図２８】図２７の平面説明図である。
【符号の説明】
１ａ・・回動軸
１ｂ・・回動軸
７・・アーム
９・・アーム
６０ａ・・サーボモータ
６０ｂ・・サーボモータ
６２ａ・・ＣＣＤカメラのレンズ
６２ｂ・・ＣＣＤカメラのレンズ
６２ｃ・・ＣＣＤカメラのレンズ
６２ｄ・・ＣＣＤカメラのレンズ
６３ａ・・ＣＣＤカメラ
６３ｂ・・ＣＣＤカメラ
６３ｃ・・ＣＣＤカメラ
６３ｄ・・ＣＣＤカメラ
８９・・リニアエンコーダ
９１・・制御器[0001]
BACKGROUND OF THE INVENTION
When a log is rotated and cut with a veneer lace, marks such as holes formed by a drill are attached in advance to the positions that should be the rotation centers of both log ends. The present invention detects the positions of these marks. In addition, the present invention relates to a mark position detection device for a raw wood that moves the raw wood so that the mark reaches a predetermined position.
[0002]
[Prior art]
Conventionally, as described in Japanese Examined Patent Publication No. 4-31847, in order to effectively obtain a veneer veneer (hereinafter referred to as a veneer), it should be the center of rotation of the raw wood during cutting by various centering devices in advance. Find the position at both ends of the log and mark each hole, detect the mark in the next process, move the log so that the mark and the center of rotation of the veneer lace spindle coincide, and then hold on the spindle Cutting is performed with a cutting blade.
At that time, for example, an imaging device including a lens and an imaging device that captures an image of an original tree incident through the lens for detecting a mark such as a hole in the mouth is shown as a side view in FIGS. As shown in FIG. 28 which is an explanatory plan view, they are arranged and positioned as follows.
That is, two V-shaped holding members 203 that hold the log 201 and are movable in the direction of the arrow in FIG. 27 and the direction of the arrow in FIG. 28, and the mouth 201a of the log 201 that is formed with a hole 201b and receives oblique light. Oppositely, for example, a CCD (charge coupled device) camera 205 including a lens and an image pickup device that captures an image of a raw tree incident through the lens is provided.
On the image sensor (not shown) of the camera 205, the hole 201b of the lip 201a appears as a black circle by oblique light, and this image is displayed by the image processing calculation means (not shown) on the position of the hole 201b on the image sensor. Detect information.
In response to an operation signal from a controller (not shown) that receives the information, the positions of the holes 201b of the both ends 201a are respectively in the vertical direction (vertical direction in FIG. 27) and the horizontal direction (vertical direction in FIG. 28) with respect to the camera 205. The holding member 203 is moved in the directions of the arrows shown in FIGS. 27 and 28 so as to reach a predetermined position.
Next, for example, with the gripping claws (not shown) biting into both ends of the raw wood 201, the raw wood 201 is conveyed to the veneer lace (not shown) by the gripping claws.
In this conveyance to the veneer lace, the gripping claws are moved so that the position of the center of rotation of the spindle of the veneer lace and the position of the hole 201b in the mouth of the log 201 are moved according to the position information, and the log 201 is held by the spindle. After that, the log 201 is rotated and cut with a blade (not shown).
[0003]
[Problems to be Solved by the Invention]
However, when the hole is detected by one camera 205 with respect to the log of the log with the above apparatus, if the focal length of the lens of the camera 205 is increased, the resolution is increased and the position of the hole can be detected more accurately. However, the portion projected as an image on the image sensor of the camera 205 has a narrow end of the lip, and cannot be detected unless there is a hole in the area.
On the contrary, if the focal length of the lens of the camera 205 is small, the portion projected as an image on the image sensor of the camera 205 has a wide area of the lip and can detect the hole, but the resolution is reduced. In most cases, it is detected as a position shifted from several mm to tens of mm with respect to the actual position.
On the other hand, since the thickness of the veneer obtained by cutting the raw wood with a veneer lace is about 0.6 mm, the raw wood is held by the gripping claws as described above according to the information at the shifted position, and moved. If it is held by a spindle and cut by a cutting tool, the yield is lowered.
[0004]
[Means for Solving the Problems]
In order to solve the above problems, the present invention provides, as a log position detector for a log of a log, two holding members for holding a log and two holding members, each of which is provided with a fiber direction of the log. Two moving devices that move from a first position to a second position in a direction orthogonal to each other, the direction connecting the first position and the second position, and the connecting direction in a vertical virtual plane passing through the connecting direction Two moving devices that can control the amount of movement independently in both directions of the orthogonal direction, and the fiber direction of the raw wood in the direction orthogonal to the vertical virtual plane at each of the first position and the second position An imaging device having a lens disposed opposite to each other at an interval longer than the length of the lens, and an imaging device that captures an image of a log of the raw wood that is incident through the lens. The focal length of the lens of the imaging device is the two positions at the second position. When the image pickup device is made smaller than the focal length of the lens of the device and the holding member is in the first position, the images of both ends of the log are tied on the image pickup device of the image pickup device, and the marks are attached to both ends. Each of the two holding members so that the mark reaches a predetermined position of the second position based on the position information from the image processing calculation means. tie Direction and said tie A controller that calculates the amount of movement in a direction orthogonal to the direction and outputs an operation signal to each of the two moving devices to move the calculated amount; and when the holding member is in the second position, The image of the culvert is connected to the image pickup device of the image pickup device, the image processing calculation means for calculating the position of the mark attached to the lip on the image pickup device, and the mark based on the position information from the image processing calculation means. In order to more accurately reach the predetermined position of the second position, the two holding members, tie Direction and said tie Each of the movement amounts in the direction orthogonal to the direction is calculated, and a controller is provided that outputs an operation signal to each of the two moving devices so that the calculated amount is further moved.
[0005]
Also, two holding members for holding the log and two holding members are provided on the same vertical virtual plane in the direction perpendicular to the fiber direction of the log, and the holding member is moved from the first position to the first position. Two moving devices that move to the third position through two positions, and the amount of movement can be controlled independently in both the arbitrary direction and the direction orthogonal to the arbitrary direction on the same vertical virtual plane. Two moving devices, and at each position of the first position and the second position, the lens is disposed in a state of being opposed to each other at an interval longer than the length of the raw wood in the direction orthogonal to the vertical virtual plane, An imaging device having a lens and an imaging device that captures an image of a wood log that is incident through the lens, wherein the focal length of the lenses of both imaging devices at the first position is the lens of both imaging devices at the second position Each of the imaging devices that are smaller than the focal length of the Image processing arithmetic means for connecting the images of both log ends of the raw wood onto the image pickup device of the image pickup device and calculating the positions of the marks attached to the two log ends on the image pickup device, respectively, when in position The amount of movement of the two holding members in the direction orthogonal to the arbitrary direction is calculated so that the mark reaches the predetermined position of the second position based on the position information from the means. A controller that outputs an operation signal to each of the calculated amounts to the moving device, and when the holding member is in the second position, images of both ends of the log are connected to the image pickup device of the image pickup device, Two image processing calculation means for calculating the position of the mark on the image pickup element on the image sensor, and two marks so that the mark reaches a predetermined position of the third position based on position information from the image processing calculation means. Directly between the arbitrary direction and the arbitrary direction of the member To calculate each movement amount in the direction, it may be constituted by the two mobile device controller issuing an activation signal to the amount of each movement issued the calculated on.
[0006]
In these raw wood end mark position detection devices, the moving device has a guide member for guiding the holding member in a direction perpendicular to the fiber direction of the raw wood, and is on the same imaginary line parallel to the fiber direction of the raw wood on the first position side. It is composed of two arms which are pivoted at an interval and can be rotated by a predetermined angle independently of each other by a first operating member, and a second operating member which moves the holding member by a predetermined amount while being guided by the guiding member. You may do it.
Similarly, in the mark position detection device of the log of the log, the moving device has a guide member for guiding the holding member in the horizontal direction orthogonal to the fiber direction of the log and is independent of each other in the vertical direction by the third actuating member. You may comprise by two movable arms and the 4th actuating member which moves a predetermined amount, guiding a holding member with a guide member.
The imaging device is a device that can change light information obtained on the imaging device into an electrical signal, such as a CCD camera.
[0007]
DETAILED DESCRIPTION OF THE INVENTION
Next, an embodiment of the present invention will be described.
FIG. 2 is an explanatory plan view of FIG. 1, FIG. 2 is a view of the direction of the arrow from the alternate long and short dash line AA in FIG. 1, and FIG. 3 is a view of the direction of the arrow from the alternate long and short dash line BB in FIG. As described above, the rotation shafts 1 a and 1 b whose rotation centers coincide with each other are held in place by the first support columns 3 and 5. The rotation shaft 1a is provided with an attachment member 7a so as to be rotatable through a bearing (not shown).
Two side walls 7b that are long in the left-right direction in FIG. 1 are fixed to the mounting member 7a at intervals in the axial center line direction of the rotating shaft 1a as shown in FIGS. The bottom plate 7c has a bottom plate 7c in a state where the length in the left-right direction in FIG. 1 is longer than the side wall 7b and protrudes to the left, and the side wall 7b and the bottom plate 7c are at the right end in FIGS. The arm 7 is configured by fixing the contact plate 7d to the end face.
The side wall 7 b is provided with two rows of linear guides 11 on the upper surface thereof, and a slide member 15 that is guided to move along the linear guides 11.
As shown in FIG. 3, the slide member 15 is fixed with a support member 23 having a log contact portion 19 arranged in a V shape at the top.
Further, a female screw (not shown) penetrating in the left-right direction in FIG. 3 is formed in the lower part of the slide member 15, and the female screw is viewed from the direction of the arrow from, for example, a one-dot chain line CC in FIG. As shown in FIG. 4, a male screw 31 having a matching shape is inserted.
These male screws 31 are connected to a servo motor 35 which is an example of a second operating member having an absolute rotary encoder (not shown) fixed to the bottom plate 7c on the rotating shaft 1a side. The slide member 15 can reciprocate along the linear guide 11 by the rotation of the male screw 31 by the rotation.
[0008]
On the other hand, as shown in FIG. 2 and FIG. 3, a mounting base 38 is fixed to the lower part of the bottom plate 7c, and the toothed portion of the mounting base 38 is located on the same circumference from the rotation center of the rotating shaft 1a. An arc-shaped worm wheel 39 formed with 39a is fixed. A worm 41 having a helical tooth portion 41a that matches the tooth portion 39a is rotatably provided on a base via a bearing 42, and the worm 41 is provided with an absolute rotary encoder (not shown). A servo motor 43 which is an example of the first operating member is connected. Therefore, the worm wheel 39 is rotated with respect to the rotation center of the rotating shaft 1a by rotating the worm 41 by the rotation of the servo motor 43. As a result, the arm 7 reciprocates in the direction of the arrow with respect to the rotating shaft 1a. It becomes movable.
As described above, one arm 7 is configured with respect to the rotating shaft 1a. However, the arm 9 having the same configuration as that of the arm 7 with respect to the rotating shaft 1b, that is, as shown in FIG. , Side wall 9b, bottom plate 9c, contact plate 9d, linear guide 13, slide member 17, log abutment portion 21, support portion 25, female screw (not shown), male screw 33, absolute rotary encoder (not shown). The arm 9 having the servo motor 37 is provided in parallel with the arm 7. Although not shown, a worm wheel 39 provided on the arm 7, a worm 41, and a servo motor 43 provided with an absolute rotary encoder are also provided on the arm 9 in the same positional relationship in order to reciprocately rotate the arm 9 with respect to the rotary shaft 1 b. However, the servo motor provided on the arm 9 for convenience is referred to as a servo motor 44.
[0009]
Furthermore, the imaging mechanisms 45, 47, 49, and 51 for copying both log ends of the raw wood placed on the abutting portions 19 and 21 of the slide members 15 and 17, the imaging mechanism 45 and the imaging mechanism 49, In addition, the imaging mechanism 47 and the imaging mechanism 51 are provided at opposite positions as described later.
The imaging mechanisms 45, 47, 49, and 51 all have the same configuration except for the focal length of the lens. For example, in the imaging mechanisms 45 and 47, only the main part is shown in FIG. It is configured as shown in FIG. 5 which is a view of the direction of the arrow from −D and FIG. 6 which is a view of the direction of the arrow from the dashed-dotted line EE in FIG.
That is, as shown in the figure, three long screw bolts 53 are screwed into a place where a female screw (not shown) of the base 52 is formed and fixed with a nut 54a to make it stand upright. As shown in FIG. 6, each long screw bolt 53 has two long holes 55 a on the arm 7 side (lower side in FIG. 6) of the support plate 55 and one hole formed on the opposite side of the arm 7 ( As shown in FIG. 5, the upper surface of the support plate 55 is fixed by tightening the nut 54c from both the front and back surfaces of the support plate 55 via the spherical washer 54b while adjusting the height as shown in FIG. Keep it level.
Reference numeral 56 denotes a second column fixed to the base 52. A bolt 56a is screwed into a female screw (not shown) formed through the second column 56 in the left-right direction in FIG. The rail 57a, which will be described later, is adjusted to be orthogonal to the arm 7 by moving the arm 7 side of the support plate 55 in the left-right direction in contact with the side surface of the support plate 55. Reference numeral 56 b denotes a nut for fixing each bolt 56 a so that the bolt 56 a does not shift with respect to each second support 56 after the screwing amount of each bolt 56 a is determined.
Rails 57a constituting two linear bearings are fixed in parallel to each other on the upper surface of the support plate 55, and slide members 57b movable on the rails 57a are attached to the rails 57a, and both slide members 57b are attached to both slide members 57b. The support base 58 is fixed. A square member 59a formed with a female screw (not shown) penetrating in the front-rear direction in FIG. 5 is fixed to the lower surface of the support base 58 between the slide members 57b, and a male screw 59b that matches the female screw is fixed to the female screw. Insert.
As shown in FIG. 6, a servo motor 60a having an absolute rotary encoder for rotating the male screw 59b forward / reversely is connected to one end of the male screw 59b.
[0010]
On the other hand, two cylindrical bodies (hereinafter referred to as square pipes) 61a and 61b having two cross sections are fixed to the upper end of the support base 58 as shown in FIGS.
Inside the square pipes 61a and 61b, CCD cameras 63a and 63b as imaging devices having lenses 62a and 62b are held as follows, and light that makes the optical axes of the lenses 62a and 62b parallel to the rails 57a. An example of the shaft adjusting device is configured.
Two internal threads (not shown) penetrating the inside and outside of the square pipes 61a and 61b are formed at the vertical and horizontal sides of the square pipes 61a and 61b at equal intervals in the direction parallel to the rail 57a. A bolt 64a having a matching shape is inserted into the shaft.
The CCD cameras 63a and 63b are held in the vertical and horizontal directions by the tip of the bolt 64a in a state where the screwing amount of the bolt 64a into the female screw is adjusted.
In addition, 64b with which each bolt 64a was equipped is a nut for fixing so that each bolt 64a may not slip | deviate with respect to the square pipes 61a and 61b, after the screwing amount of each bolt 64a is determined.
In these optical axis adjusting devices, adjustment to make the optical axes of the lenses 62a and 62b parallel to the rail 57a is performed as follows.
[0011]
First, in a state where the nut 54c of each long screw bolt 53 and the nut 56b of the bolt 56a are loosened, the rail 57a is perpendicular to the side wall 7b by a right angle ruler (not shown) applied to the side wall 7b of each arm 7. In addition, by rotating the bolt 56a of each second support column 56 forward or backward to bring the tip into contact with the side surface of the support plate 55, the support plate 55 is opposite to the lenses 62a and 62b of the CCD cameras 63a and 63b. That is, the long screw bolt 53 located above in FIG.
Next, the nut 54c of each long screw bolt 53 is rotated forward or backward to move the support plate 55 up and down, and the upper surface of the support plate 55 is made horizontal using a level device (not shown), and then each nut 54c. Are fastened to the support plate 55 via the spherical washer 54b, and the nuts 56b are pressed to the second support post 56, respectively.
Next, in each of the CCD cameras 63a and 63b, all bolts 64a with the nut 64b loosened are screwed into the female threads of the square pipes 61a and 61b, and the lenses 62a and 62b are on the same imaginary line in the horizontal direction of FIG. Then, the tip of each bolt 64a is brought into contact with each CCD camera 63a, 63b and temporarily held.
Next, the servo motor 60a is operated forward and backward to move the square member 59a, that is, the CCD cameras 63a and 63b, close to and away from the arm 7, that is, move up and down in FIG. 6, and the CCD at a specific position of the object fixed by the movement Adjustments are made so that the positions of the cameras 63a and 63b on the image sensor hardly change. In this adjustment, the direction of the lens 62a, 62b, that is, the optical axis is adjusted by rotating each bolt 64a forward or backward only the respective bolts 64a of the CCD cameras 63a, 63b, and in FIG. In FIG. 5, it is changed in the vertical and horizontal directions.
After these adjustments are completed, the nut 64b of each bolt 64a is tightened so as to be pressed against the square pipes 61a and 61b.
As described above, the optical axes of the lenses 62a and 62b of the CCD cameras 63a and 63b and the rail 57a are made parallel.
[0012]
Although the imaging mechanisms 45 and 47 are configured as described above, the imaging mechanisms 49 and 51 are also provided at positions facing each other with the same configuration, and a CCD camera 63c and a lens 62d having a lens 62c are provided by a similar optical axis adjusting device. The CCD camera 63d is adjusted so that the position of the CCD camera 63c, 63d on the fixed subject on the imaging device does not change even when the CCD camera 63d is moved closer to or away from the arm 9. The illustration and description of each member are omitted. For convenience of explanation of the operation, the servo motor corresponding to the servo motor 60a is designated as 60b and shown in FIG.
In these CCD cameras 63a, 63b, 63c, and 63d, the lenses 62a and 62c use lenses having the same focal length, the lenses 62b and 62d use lenses having the same focal length, and the lenses 62b and 62d use the lens 62a. 62c, the focal length is large so that an image in which the subject is enlarged is obtained. For example, the lenses 62b and 62d have a focal length of 50 mm, and the lenses 62a and 62c have a focal length of 16 mm.
[0013]
3 showing only the imaging mechanisms 45 and 47 side, and FIG. 7 showing only the relevant parts for convenience, the center position of the lens 62a (the point where the thin lines intersect, hereinafter referred to as position K1) and The center position of the lens 62b (a point where the thin lines intersect, hereinafter referred to as position K2) is provided at a position separated by a distance Lx in the left-right direction and a distance Ly in the up-down direction. Although not shown, the centers of the lenses 62c and 62d are also provided at the same position in the left and right and up and down directions in FIG. 7 so as to face the positions K1 and K2 of the lens 62a, respectively. The distances in the horizontal direction and the vertical direction are also the same Lx and Ly, respectively.
In addition, when the log P reaches a third position, which will be described later, which is the final position on the arms 7 and 9, each point T3 formed at both ends of the log P should reach a point K3 (a thin line in FIG. 7). 7 is also shown only on the lenses 62a and 62b side in FIG. 7, but is set at a distance Mx in the left-right direction and a distance My in the up-down direction with respect to K2, and with respect to the lenses 62c and 62d. However, it is set as K3 at the same position in the horizontal direction and the vertical direction as K3 in FIG.
Note that these values of the distances Lx, Ly, Mx, My are input in advance to the controller 91 described later.
[0014]
Also, the CCD cameras 63a and 63b are in focus at the position of the alternate long and short dash line Xa-Xa that is a distance L1 from the lenses 62a and 62b in the vertical direction in FIG. It is set so that it is in focus at the position of the alternate long and short dash line Ya-Ya that is separated from the lenses 62c and 62d by a distance L1.
Further, these imaging devices 45, 47 and 49, 51 are kept waiting at the following positions in the initial state. That is, an arbitrary position between the imaging devices 45 and 47 and the imaging devices 49 and 51 facing each other, for example, a position separated by an equal arbitrary distance from the position serving as the central base point between the arm 7 and the arm 9, that is, FIG. Then, virtual lines indicated by the alternate long and short dash line XX and the alternate long and short dash line YY are set. In these virtual lines, the distance between the alternate long and short dash line XX and the lenses 62a and 62b of the CCD cameras 63a and 63b and the distance between the alternate long and short dashed line YY and the lenses 62c and 62d of the CCD cameras 63c and 63d are equal. The servo motors 60a and 60b are actuated at the positions, and the imaging devices 45, 47 and 49, 51 are put on standby.
[0015]
The positions of the imaging devices 45, 47, 49, and 51 provided as described above change depending on the operation of the servo motors 60a and 60b, but approach the one-dot chain line XX and the one-dot chain line YY as described later. Since the separation is performed integrally and by the same amount, the distance values with respect to the alternate long and short dash line X-X and the alternate long and short dash line YY are always equal.
Further, the values of the distances to the one-dot chain line XX and the one-dot chain line Y-Y by the operation of the servo motors 60a, 60b, that is, the one-dot chain line XX and the lenses 62a of the CCD cameras 63a, 63b. , 62b, and information on the distance between the alternate long and short dash line YY and the lenses 62c, 62d of the CCD cameras 63c, 63d, respectively, are controlled by rotary encoders provided in the servo motors 60a, 60b. Is transmitted to the container 91. Hereinafter, each of these distances is referred to as a current position distance.
[0016]
A light source (not shown) is provided in the vicinity of each imaging mechanism 45, 47, 49, 51 so as to irradiate light from the oblique direction with respect to the mouth, and is formed in the mouth with a diameter of about 30 mm, for example. The hole T looks like a black circle and the other parts look bright. In each of the imaging mechanisms described above, the light irradiated on the end Pa and Pb is collected by a lens and an image is formed on the CCD imaging device. In the CCD imaging device, the black color and other bright portions are distinguished, that is, binarized. A threshold value is set so that a signal is transmitted to a controller 90 which is an example of an image processing arithmetic unit to be described later corresponding to the brightness of the binarized image. As the controller 90, for example, a model CV-500 manufactured by Keyence Corporation is used, and pattern search is performed by an absolute position method to specify the position of a black circle on the CCD image pickup device. Information on these specified positions is transmitted from the controller 90 to the controller 91.
As each CCD camera 63a, 63b, 63c, 63d, for example, Model CV-050 manufactured by Keyence Corporation is used, but the center of each lens 62a, 62b, 62c, 62d of these cameras (for example, in the lenses 62a, 62b, In FIG. 7, positions K1 and K2) are configured such that the centers of the image sensors of the CCD cameras 63a, 63b, 63c, and 63d (for example, point 0 in FIGS. 14 and 15 described later) coincide.
[0017]
On the other hand, in the state where the support portions 23 and 25 provided in the slide members 15 and 17 are respectively waiting in the original position as the log receiving position shown in FIG. 1, the log P is moved by the log contact portions 19 and 21 as will be described later. In order to detect the support, a limit switch 67 is provided on a base (not shown) at a position indicated by a solid line in FIG. 1 and a dotted line in FIG.
Further, as shown in FIG. 3, two inclined bars 65 and 66 are guided above the rotary shafts 1a and 1b so that the log P slides on the log abutment parts 19 and 21 of the support parts 23 and 25, respectively. (Indicated by a two-dot chain line in FIG. 1), as shown in FIG. 8 to be described later, the outer edge 65a of the bar 65 is located on the same line as the one-dot chain line XX, and the outer edge of the bar 66 66a is provided on the same line as the one-dot chain line YY.
Furthermore, as shown in FIG. 3, the positions indicated by the solid lines below the bars 65 and 66 are located on the upper side of the direction of the log movement of the bars 65 and 66 (the direction from left to right in FIGS. 1 and 2). Two rod-shaped stoppers 69 that can reciprocate between the position indicated by the dotted line and the position indicated by the dotted line are provided between the two bars 65 and 66 and at positions close to the bars 65 and 66, respectively, and are in the dotted line position. Sometimes the log P is prevented from slipping down.
[0018]
FIG. 8 is a view of the stopper 69 as viewed in the direction of the arrow from the alternate long and short dash line FF in FIG. 3 immediately before the upper side in the direction (FIG. 3 shows only the bar 65 corresponding to the arm 7. 8 shows both bars 65 and 66 for explanation), as shown in FIG. 9 which is a plan explanatory view of FIG. 8 and FIG. 10 which is a view of the direction of the arrow from the one-dot chain line GG of FIG. A device is provided for moving the log to a predetermined position on the bars 65 and 66 (the bars 65 and 66 are indicated by dotted lines in FIG. 9) and measuring the position of the lip when moved.
That is, the guide members provided on the outer sides of the bars 65 and 66 are provided with bottom portions 71a and 73a at positions spaced apart from each other by the same distance from each of the bars 65 and 66 as shown by two-dot chain lines in FIGS. By being guided linearly at 74 (in the left and right directions in FIGS. 8 and 9), wood end abutting members (hereinafter referred to as abutting members) 71 and 73 that can reciprocate in the direction of the arrows are provided.
The end of the air cylinder 75 is connected to the lower end of the surface of the contact member 73 facing the contact member 71, and the auxiliary rod 75b is fixed to the tip of the piston rod 75a in a state of protruding completely from the air cylinder 75. The tip of the auxiliary rod 75b is pin-connected to the lower end of the contact member 71.
A support shaft 79 is fixed to the base 77 below the air cylinder 75, and a rotating body 81 is provided on the support shaft 79 so as to be rotatable by a bearing (not shown). The rotating body 81 and the contact members 71 and 73 are connected to each other by bars 83 and 85 and a pin 87 so as to be rotatable.
With these configurations, when the piston rod 75a moves into the air cylinder 75 by injecting and discharging compressed air, the rotating member 81 rotates in the direction of the arrow in FIG. When the guide rods approach each other at a distance equal to each other in a straight line and the piston rod 75a moves out of the air cylinder 75, the rotating member 81 rotates in the direction opposite to the direction of the arrow in FIG. , 73 move away linearly at equal distances from each other.
[0019]
As described above, both the abutting members 71 and 73 move linearly at equal distances, and the distance between the abutting member 71 and the bar 65 at each time point and between the abutting member 73 and the bar 66 The distance between them will always be equal. 8 and 9, the contact member 73 moves to the bar 66 side as described later from the state in which the piston rod 75a protrudes completely from the air cylinder 75, that is, the state in which both contact members 71 and 73 are farthest apart. In order to detect the distance L2 between the edge 66a of the bar 66 and the contact member 73 shown in FIG. 9 when the rear stop is performed, the contact member 73 is provided with a movable main scale 89a of the linear encoder 89. Connecting. Note that the value of the distance L2 is not constant and varies depending on the length of the raw wood P in the fiber direction.
Furthermore, as shown in FIG. 11, they are electrically connected, signals from the limit switch 67 and the controller 90, movement amount signals respectively output from the servo motors 35, 37, 43, 44, 60 a and 60 b, linear A controller 91 is provided for controlling the operation of each servo motor 35, 37, 43, 44, 60a, 60b as described later, based on the value of the distance L2 obtained from the encoder 89.
[0020]
The embodiment of the present invention is configured as described above, and centering of the log P is performed as follows.
First, each member is made to stand by at the initial position, that is, the arm 7 and the arm 9 are rotated by rotating the servo motor 43 and the servo motor 44, respectively, so that both arms 7 and 9 are leveled (in FIG. Each servo motor 43 and servo motor 44 are stopped. The servo motors 35 and 37 are operated to rotate the male screws 31 and 33, and the slide members 15 and 17 are moved to a predetermined log receiving position shown in FIGS. 1 and 3 (only the arm 7 is shown in FIG. 3). Let Furthermore, the stopper 69 is made to stand by ascending at the position indicated by the dotted line in FIG.
In the state where each member is waiting at the initial position, a raw wood P that is centered in advance by a centering device (not shown) and has a hole T formed at a position that becomes a center of rotation at the time of cutting with a veneer lace at the end, Place it on the bars 65 and 66 by hand.
Therefore, the log P slides down on the bars 65 and 66 and stops by hitting the two stoppers 69.
[0021]
Subsequently, compressed air is injected into and discharged from the air cylinder 75 so that the piston rod 75a enters the air cylinder 75 by a manual signal. Therefore, the rotating member 81 rotates in the direction of the arrow in FIG. 9 and moves by a distance equal to the direction in which the contact members 71 and 73 approach each other.
Therefore, for example, when the log P shown by a two-dot chain line is located at a position from the contact members 73 on the two bars 65 and 66 in FIG. 8, the contact members of the contact members 71 and 73 that move as described above. 73 is first brought into contact with the throat Pb of the log P, and the log P is moved rightward in FIG. Next, when the abutment member 71 is also brought into contact with the wood mouth Pa of the raw wood P, the raw wood P is sandwiched between the contact members 71 and 73 and is pushed from both sides to be prevented from moving. As a result, the log P is located at a position where the distance between the butt Pa and the bar 65 and the distance between the butt Pb and the bar 66 are equal, that is, the center position between the two bars 65 and 66 and the log in FIG. The center position in the fiber direction of P coincides.
Further, the main scale 89a is also moved integrally by the movement of the contact member 73, the length corresponding to L2 shown in FIG. 9 when the contact member 73 is stopped is measured by the linear encoder 89, and the value is obtained. This is transmitted to the controller 91.
[0022]
Subsequently, compressed air is injected into and discharged from the air cylinder 75 so that the piston rod 75a exits the air cylinder 75 in response to a manual signal. Therefore, the rotating body 81 rotates in the direction opposite to the direction shown in FIG. 9 while moving the contact members 71 and 73 by a distance equal to the direction of moving away from each other, and the piston rod 75a is fully protruded from the air cylinder 75, ie, FIG. In the state shown in 8 and 9, the movement is stopped.
Next, when the stopper 69 is lowered and waited at the position indicated by the solid line in FIG. 3 by a manual signal, the log P again slides down on the bars 65 and 66, and as shown in FIG. 12 and FIG. 12, which is a view of the direction of the arrow from the alternate long and short dash line HH of FIG. 12 and FIG. 12, is transferred to the support portions 23 and 25 of the arms 7 and 9, and the log P Both log ends Pa and Pb are supported by the log contact portions 19 and 21, respectively. At this time, when the log P hits the limit switch 67, it is detected that the log is supported by the log abutting portions 19 and 21, and a detection signal is transmitted to the controller 91.
[0023]
On the other hand, the controller 91 compares the value obtained by adding the value of L2 and the value of L1 transmitted from the linear encoder 89 with the current position distances of the CCD cameras 63a and 63b, 63c and 63d. If larger than the latter, the CCD cameras 63a and 63b send an actuation signal to the servo motors 60a and 60b from the arm 7 and the CCD cameras 63c and 63d move from the arm 9 so as to move away from each other, and When it is detected by the absolute type rotary encoder that the former and the latter are equal, a signal for stopping the movement is sent.
On the other hand, if the former is smaller than the latter, an operation signal is sent to the servo motors 60a and 60b so that the CCD cameras 63a and 63b, 63c and 63d move in the opposite direction, and the former and the latter When it is detected that the two are equal, each signal is sent to stop movement.
As a result, the reflected light of the light applied to both ends Pa and Pb of the log P supported by the log contact portions 19 and 21 is focused on the image pickup devices of the CCD cameras 63a and 63c, respectively. And the holes T formed in both the ends Pa and Pb are, for example, the end Pa is as shown in FIG. 14 and the end Pb is shown as black circles 93 and 95 as shown in FIG. 15 and the other portions are bright. Projected in state.
After the detection signal from the limit switch 67 is transmitted, the information on the image on the image sensor is transmitted to the controller 90 as described above, and a black circle with respect to the center 0 on each CCD image sensor. As shown in FIG. 14, the values 93 and 93 are obtained as x1 and y1, and the black circle 95 is obtained as x2 and y2 as shown in FIG.
[0024]
In the controller 91 to which the information of the values x1, y1, and x2, y2 is transmitted from the controller 90, the black circle 93 on the image pickup element shown in FIG. When the position opposite to the CCD camera 63b is reached, the black circle 95 on the image pickup device shown in FIG. When Pb reaches a position facing the CCD camera 63d, the amount of movement required to be positioned at the center of the lens 62b of the CCD camera 63d is calculated, and from this result, the slide member 15 on each arm 7, 9 is calculated. , 17 to the tip side (right side in FIG. 12), and the angle of rotation of each of the arms 7, 9 on the plane in FIG.
In this case, the slide member 15 moves to the tip direction of the arm 7, that is, to the right (Lx + x1) and downward (Ly−y1) in FIG. 1, and the slide member 17 moves to the tip direction of the arm 9, that is, to the right in FIG. (Lx−x2), it is only necessary to move downward (Ly + y2), and each of the movement amounts corresponding to these and the angle to be rotated are calculated.
[0025]
Next, the controller 91 outputs an operation signal to the servo motors 35 and 37 based on the calculated movement amount and the angle to be rotated, and rotates the male screws 31 and 33 to slide the slide member 15 on the arm 7. The member 17 is moved on the arm 9 by the calculated amount, and the movement of the amount is detected by the absolute type rotary encoder, and then stopped separately. Also, the operation signal is sent to the servo motors 43 and 44, and the worm 41 is rotated. Although only the arm 7 is shown in FIG. 16, the worm wheel 39 is rotated clockwise about the axes 1a and 1b, and the arms 7 and 9 are rotated by the calculated angles, respectively, so that the absolute rotary encoder rotates the angle. After each detection, it is stopped separately.
As a result, the log P supported by the log abutment portions 19 and 21 shows only the arm 7 in FIG. 16, but the lip Pa moves to a position opposite to the CCD camera 63b and the lip Pb moves to a position opposite to the CCD camera 63d. To do. As described above, the CCD camera 63b and the CCD camera 63d are waiting to be moved to the positions where the servomotors 60a and 60b are in focus on the pier Pa or Pb, respectively. The reflected light forms an image on the image pickup device of each of the CCD cameras 63b and 63d in a focused state, and the lip Pa is shown in FIG. 17 and the lip Pb is shown in FIG. 95 and other parts are projected in a bright state.
[0026]
Here, as shown in FIGS. 17 and 18, the reason why the black circles 93 and 95 are not located at the center (points 0 in FIGS. 17 and 18) on the image sensors of the CCD cameras 63 b and 63 d is that of the CCD cameras 63 a and 63 c. This is because the focal lengths of the lenses 62a and 62c are 16 mm as described above, the resolution is low, and the values of the x1, y1, x2, and y2 are approximate values.
By the signals from which the servo motors 35, 37, 43, 44 are operated and then stopped, the information on the images on these image sensors is processed and transmitted to the controller 90 in the same manner as described above. With respect to the center 0 on each CCD image sensor, the black circle 93 has x3 and y3 values as shown in FIG. 17, and the black circle 95 has x4 and y4 values as shown in FIG. It is required.
The controller 91 to which the information on the values of x3, y3 and x4, y4 has been transmitted from the controller 90 further shows when the log P reaches the final position on the tip side (right side in FIG. 16) of the arms 7, 9. The black circle 93 on the image sensor of the CCD camera 63a detected as indicated by 17 and the black circle 95 on the image sensor of the CCD camera 63c detected as shown in FIG. The amount of movement required to reach the opposite position is calculated, and from this amount of movement, the amount of movement of the slide members 15 and 17 on the arms 7 and 9 further toward the tip side, and the plane in FIG. The angles to be rotated of the arms 7 and 9 are calculated.
[0027]
In this case, the slide member 15 moves to the right end in FIG. 16 (Mx + x3) and upward (My + y3) in FIG. 16, and the slide member 17 moves to the right end in FIG. -X4), it is only necessary to move upward (My-y4), and the respective movement amounts corresponding to these and the angles to be rotated are calculated.
Next, the controller 91 similarly outputs an operation signal to the servo motors 35 and 37 based on the calculated movement amount and the angle to be rotated, and rotates the male screws 31 and 33 to move the slide member 15 on the arm 7. The slide member 17 is moved on the arm 9 by the calculated amount, and the movement of the amount is detected by the absolute type rotary encoder, and then stopped separately, and the operation signal is sent to the servo motors 43 and 44 to rotate the worm 41. 19, only the arm 7 is shown, but the worm wheel 39 is rotated about the shafts 1a and 1b in the direction of the arrow, that is, in the counterclockwise direction, and the arms 7 and 9 are rotated by the calculated angles, respectively. After each rotation of the angle is detected by the encoder, it is stopped separately.
As a result, the log P supported by the log abutment portions 19 and 21 is shown only on the arm 7 side in FIG. 19 corresponding to FIG. 16, but in the state where the holes T of the ends Pa and Pb are respectively opposite to K3. Reach position.
In the embodiment of the invention as described above, since the focal lengths of the lenses 62a and 62c of the CCD cameras 63a and 63c are small at the first position, a wide area of the mouth can be projected as an image on the image sensor. It is possible to detect the position of the hole T almost certainly. Next, the log P is moved to the second position. At the second position, since the focal lengths of the lenses 62b and 62d of the CCD cameras 63b and 63d are increased, the area that can be projected is reduced, but the first position is surely secured. The position of the hole T is detected, and the log P can be moved so that the hole T is located in the narrow area based on the position information. However, since the lenses 62a and 62c at the first position have a small focal length, the resolution of the detected position is low and the accuracy of the detected position is poor. However, the lenses 62b and 62d have a large focal length and a high resolution at the second position. By detecting using, the position of the hole T can be detected with high accuracy.
[0028]
As described above, the log P that has reached the final position is located at the position where the log P is held at the final position and the center of the hole T of the log Pa and Pb of the log P held on the axis center line of the spindle of the veneer lace. It is conveyed by a reciprocating conveyance body that reciprocates between the matching positions.
As such a reciprocating conveyance body, for example, the raw wood P that has reached the final position and is supported by the raw wood contact portions 19 and 21 is not shown in FIG. 20 corresponding to the view of the direction of FIG. 20, and FIG. 21 which is a view of the direction of the arrow from the one-dot chain line SS of FIG.
That is, similarly to the known veneer lace spindle, each of the first spindles 97 and 99 that can reciprocate in the direction of the arrow shown in FIG. 20 and turn in the direction of the arrow shown in FIG. 103 is fixed. Although not shown, the first spindles 97 and 99 are provided with a servomotor for rotating the first spindle 97 and an absolute rotary encoder for detecting the rotation angle of the first spindle 97 or 99.
Each of the tips of the arm portions 101 and 103 has a large number of piercing portions 105 and 107 on the side of the log P, and only the arm portion 101 side is shown in FIG. 21, but arc-shaped notches 109a and 111a are provided. Holding bodies 109 and 111 are provided.
These arc-shaped notch recesses 109a and 111a are formed in the arcs of the notch recess 109a of the holding portion 109 as shown in FIG. 21 when the arm portions 101 and 103 stand by at the initial positions indicated by the solid lines in FIGS. The length of each member is set so that the center Q (indicated by a black circle) of the imaginary circle having a part of and the K3 coincides with the center. The notch recess 111a of the holding body 111 is also configured to have the same positional relationship.
[0029]
On the other hand, when the first spindles 97 and 99 are rotated from the position of FIG. 21 and the arm portion 101 is rotated by 90 degrees, for example, and stopped at the position indicated by the alternate long and short dash line, the arc of the notch recess 109a is a part. The veneer lace is arranged so that the center Q of the virtual circle coincides with the rotation center of the spindle 113 of the veneer lace. Reference numeral 115 denotes a log cutting tool fixed to a veneer lace stand (not shown).
Further, as described above, when reaching the final position on the arms 7 and 9, a limit switch 117 is provided at a position corresponding to the log as shown by a solid line in FIG. 20 and a two-dot chain line in FIG. A controller (not shown) is provided for controlling each member with a log detection signal.
For example, the reciprocating conveyance body is configured as described above, and the log P is conveyed to a veneer race as follows.
[0030]
That is, the arm portions 101 and 103 are kept waiting at the initial position shown by solid lines in FIGS. 20 and 21, and the limit switch 117 indicates that the log P has reached the final position on the arms 7 and 9 as described above. When detected, the first spindles 97 and 99 are first moved in a direction approaching each other in FIG. Therefore, as shown in FIG. 22, the holding portion 109 is pressed against the lip Pa of the log P and the holding portion 111 is pressed against the lip Pb of the log P, and the piercing portions 105 and 107 are pierced and the log P is held.
Next, in order to slightly lower the log abutment portions 19 and 21, only the arm 7 is shown in FIG. 19, but the servo motors 43 and 44 are rotated clockwise to rotate the arm 7 and 9 by a predetermined amount. Operate. Therefore, the log P is separated from the log abutting portions 19 and 21 and is held only by the holding portions 109 and 111.
After the arms 7 and 9 are rotated, the first spindles 97 and 99 are shown only on the side of the first spindle 97 in FIG. 21, but are rotated 90 degrees clockwise to stop the arm portion 101 at the position indicated by the alternate long and short dash line. Let Next, when both spindles 113, 113 of the veneer race are moved in a direction approaching each other, the center of rotation of both spindles 113, 113 and the center Q of the notch recesses 109a, 111a, that is, both ends Pa, Pb of the log P are formed. The log P is held by both spindles 113 and 113 in a state where the hole T coincides. Next, after the first spindles 97 and 99 are moved away from each other, they are rotated in the opposite direction, that is, counterclockwise in FIG. The blade 115 is rotated to perform cutting.
[0031]
On the other hand, after the log P is transported to the veneer race by the reciprocating transport body, the servo motors 35, 37, 43, and 44 are actuated by the operation signal from the controller 91, and the slide members 15 and 17 are rotated. The arms 7 and 9 are rotated to the 1a and 1b sides, and both are made to stand by in the initial position where they are in a horizontal state as shown in FIG. It is activated.
[0032]
Next, a modified example of the present invention will be described.
1. In the embodiment of the present invention, the position of the hole T is detected by the CCD cameras 63b and 63d at the second position to reach the final position where the holes T of the throat Pa and Pb are respectively opposite to K3. The arms 7 and 9 are rotated again and the slide members 15 and 17 are moved in the direction of the distal ends of the arms 7 and 9, respectively, but may be operated as follows.
As shown in FIG. 23, CCD cameras 63b and 63d are provided opposite to each other at the position K3 which is the third position in the embodiment of the invention, and other members are arranged in the same manner as in the embodiment of the invention. Each member is operated as follows.
That is, as in the embodiment of the present invention, at the positions shown in FIGS. 12 and 13, the CCD cameras 63a and 63c obtain information on the positions of the holes T of the log Pa and Pb of the log P.
Next, based on the obtained position information, the amount of movement necessary for moving the holes T of the butt Pa and Pb to positions respectively opposite to K3 is calculated. For example, if each black circle is located as shown in FIGS. 14 and 15, the slide member 15 moves (Lx + Mx + x1) in the tip direction of the arm 7 and moves upward (My−Ly + y1), and the slide member 17 moves to the end of the arm 9. It is only necessary to move (Lx + Mx−x2) in the tip direction and (My−Ly−y2) downward. From these values, the rotation angles of the arms 7 and 9 and the movement amounts of the slide members 15 and 17 on the arms 7 and 9 are calculated.
Next, when the servo motors 35, 37, 43, and 44 are respectively operated and stopped individually corresponding to these values, the ends Pa and Pb of the log P are shown as shown in FIG. It moves to a position corresponding to the CCD cameras 63b and 63d.
Therefore, both ends Pa and Pb of the log P form images on the image sensors of the CCD cameras 63b and 63d, respectively. In this case as well, the black circle is not located at the center 0 on the image pickup devices of the CCD cameras 63b and 63d for the same reason as in the embodiment of the present invention.
The image information on the image sensor is subjected to image processing in the same manner as described above to obtain position information.
[0033]
Next, based on the obtained position information, the movement amounts necessary for the holes T of the throat Pa and Pb to move to the position of K3, that is, the center 0 are calculated. For example, if each black circle is positioned as shown in FIGS. 17 and 18, the slide member 15 moves in the direction of the tip of the arm 7 (x3) and moves upward (y3), and the slide member 17 moves from the tip of the arm 9. It is only necessary to move away (x4) and downward (y4).
Similarly, the rotation angle of the arms 7 and 9 and the amount of movement of the slide members 15 and 17 on the arms 7 and 9 are calculated from these values.
Next, when the servo motors 35, 37, 43, and 44 are respectively operated and stopped individually corresponding to these values, the log P supported by the log contact portions 19 and 21 corresponds to FIG. Although only the arm 7 side is shown in FIG. 23, a final state is reached in which the holes T of the ends Pa and Pb are almost exactly opposite to K3.
The log P that has reached the final state is conveyed to a veneer lace by a reciprocating conveyance body composed of, for example, the holding bodies 109 and 111 shown in the description of the embodiment of the present invention.
In this case, the reciprocating conveyance body composed of the holding bodies 109, 111 and the like is kept waiting at the position indicated by the solid line in FIG. 23, and after the log P reaches the final state, the CCD cameras 63a, 63b, 63c and 63d are connected to the log P. 23, and then rotated to the position indicated by the one-dot chain line in FIG. 23. The logs P are held by the holding bodies 109 and 111 in the same manner as in the embodiment of the present invention. , 113 and holding of the log P by the movement of the spindles 113, 113 in a direction approaching each other.
[0034]
2. In the embodiment of the invention, the slide member 15 provided with the log contact members 19 and 21 is used as a moving device for moving the log contact members 19 and 21 as an example of a holding member for holding the log. , 17 are moved on the arms 7 and 9 while the arms 7 and 9 are rotated. In short, the holding member is moved to any arbitrary virtual virtual plane passing through the first position, the second position, and the third position. Any moving device may be used as long as the moving amount can be controlled independently in both the direction and the direction orthogonal to the desired direction.
That is, for example, the slide members 15 and 17 provided with the log contact members 19 and 21 may be moved in the horizontal direction while moving in the vertical direction.
In this case, for example, the direction of the arrow is seen from the dashed-dotted line NN in FIG. 25, FIG. The configuration is as shown in FIG. 26 which is a plan explanatory view which is a partial sectional view.
Reference numerals 119 and 121 denote arms that support the slide members 15 and 17 having the same wood log abutting members 19 and 21 as described above so as to be horizontally movable, and are configured in the same manner as the arms 7 and 9.
That is, for example, the arm 119 includes the side walls 7b, the bottom plate 7c, the contact plate 7d, the linear guide 11, the support member 23, the male screw 31 inserted through the female screw (not shown), and the servo motor 35 as an example of the fourth operating member. The slide member 15 can be reciprocated along the linear guide 11 by rotating the male screw 31 by the rotation of the servo motor 35.
Further, the arm 119 and the arm 121 are provided inside third pillars 124 and 123 provided at intervals, and can be moved up and down by the following configurations.
[0035]
That is, the third support column 124 includes two support columns 124a and 124b. On the opposite side of the arm 119 across the third support column 124, the third support column 124 can be rotated and stopped by a servo motor 125 which is an example of a third operating member. A female screw 129 through which two male screws 127 are inserted is arranged. Reference numeral 120 denotes a flat plate for connecting the columns 124a and 124b, and 130 denotes a bearing for rotatably holding the second male screw 127 at a portion where no screw is formed.
The female screw 129 and the arm 119 are connected to each other by two connecting members 131 that are spaced apart from each other. The support columns 124a and 124b and the connecting member 131 are illustrated in plan view as shown in FIG. Are formed to mesh with each other.
Therefore, the arm 119 can be moved up and down along the columns 124a and 124b by the rotation and stop of the second male screw 127 and stopped.
Further, as shown in FIG. 25, CCD cameras 133a and 133b as imaging devices having lenses 132a and 132b are arranged such that the center position of the lens 132a (the point where the thin lines intersect, hereinafter referred to as position K4) and the center of the lens 132b. Positions (points where thin lines intersect, hereinafter referred to as position K5) are provided on a base (not shown) with a predetermined interval L3 set in the vertical direction.
The third strut 123 includes an arm 121 including a male screw 33 and a servo motor 37 as an example of a fourth operating member, a second male screw 137, a servo motor 135 as an example of a third operating member, a bearing 138, and a female screw. 139, CCD cameras 133c and 133d as imaging devices having lenses 132c and 132d, and two connecting members 143 include an arm 119, a third support column 124, a second male screw 127, a female screw 129, a bearing, as shown in FIG. 130, the CCD cameras 133a and 133b, and the two connecting members 131 are provided at positions symmetrical to each other.
[0036]
Also, as shown in FIG. 25, the logs P on the arms 119, 121 are transferred by the operation of each member to be described later, and when reaching the final position, the holes T formed at both ends of the logs P reach. The power point K6 (the point at which the thin lines are orthogonal to each other in FIG. 25) is set on the vertical line passing through K4 and K5 and away from K5 by L4. The information on the positions of K4, K5, and K6 is input to a controller (not shown) in advance as in the above embodiment.
Further, although not shown, the CCD cameras 133a and 133b are holding devices similar to the devices shown in FIGS. 5 and 6 as the devices including the CCD cameras 63a and 63b in the above-described embodiment (in FIG. However, in this modified example, it is provided with an interval in the vertical direction). Similarly, it is provided in a state where an object at a position that is an equal distance away from the lenses 132a and 132b of both cameras on the arm 119 side is in focus. . Similar to the support base 58, the holding device is movable by a servo motor (not shown) in a direction toward and away from the arm 119.
The CCD cameras 133c and 133d are also configured in the same manner, and are movable in a direction in which they are integrally approached and separated from the arm 121 by a servo motor (not shown).
In FIGS. 24 and 25, 65 and 66 indicated by dotted lines are bars, and 67 is a limit switch, which have the same functions and functions as those of the above embodiment.
In the above configuration, in the initial state where each member is in the state shown in FIG. 25, the information obtained by the apparatus shown in FIG. 8 to FIG. The CCD cameras 133a and 133b and the CCD cameras 133c and 133d are moved to a position where they are in focus.
[0037]
In this state, as shown by the dotted line in FIG. 25, the log P is guided to the log contact portions 19 and 21 by the bars 65 and 66, hits the limit switch 67, and the log Pa and the log Pb of the log P are respectively connected to the camera. It is detected that it reached before 133a and 133c.
Therefore, similarly to the above-described embodiment, the reflected light of the light applied to the both ends Pa and Pb of the log P forms an image on the image sensor of the CCD cameras 133a and 133c in a focused state. The holes T formed in the ends Pa and Pb are projected as black circles, and the other portions are projected in a bright state.
Information on these images on the image sensor is transmitted to a controller (not shown), and, as in the previous embodiment, K4, that is, a black circle with respect to the center 0 on the image sensor of each CCD camera 133a, 133c. The value of the coordinate is obtained.
Based on the value of this coordinate, the controller 91 causes the holes T formed in both the mouths Pa and Pb to be both K5, that is, relative to the center 0 on the image sensor of each of the CCD cameras 133b and 133d, as in the previous embodiment. The amount of movement required to move to the position to be calculated is calculated. For example, in the same manner as in the above embodiment, when the holes T of the both ends Pa and Pb are projected as shown in FIG. 14 and the end Pb is shown as shown in FIG. Thus, it is sufficient to move x1 rightward and upward (L3 + y1), and the slide member 17 only needs to move x2 leftward and (L3-y2) upward in FIG.
[0038]
Therefore, the controller moves x1 for the servomotor 35, (L3 + y1) for the servomotor 125, x2 for the servomotor 37, and (L3-y2) for the servomotor 135 in the required directions. In this manner, an operation signal is output, and the male screws 31, 33, 127 and 137 are rotated and then stopped individually.
As a result, the arms 119 and 121 are raised, and the slide members 15 and 17 are horizontally moved on the arms 119 and 121 and stopped. The log P supported by the log abutting portions 19 and 21 has the mouth Pa of the CCD. The lip Pb of the camera 133b moves to a position facing the CCD camera 133d.
Therefore, each hole T appears as a black circle on the image sensor of the CCD camera 133b and the CCD camera 133d.
The image information on the image sensor is transmitted to the controller in the same manner as described above, and the value of the coordinates of the black circle is obtained for the center 0 corresponding to K5 on each CCD image sensor.
Based on the value of this coordinate, the controller 91 calculates the amount of movement required to move the holes T formed in the both ends Pa and Pb to positions opposite to K6, respectively, as in the above embodiment. . For example, in the same manner as in the above-described embodiment, when the holes T of the both ends Pa and Pb are projected as shown in FIG. 17 and the end Pb as shown in FIG. Thus, it is sufficient to move x3 rightward and (L4 + y3) upward, and the slide member 17 only needs to move x4 leftward and (L4-y4) upward in FIG.
Therefore, the controller moves x3 for the servo motor 35, (L4 + y3) for the servo motor 125, x4 for the servo motor 37, and (L4-y4) for the servo motor 135 in the required directions. In this manner, an operation signal is output, and the male screws 31, 33, 127 and 137 are rotated and then stopped individually.
As a result, the arms 119 and 121 are lifted and stopped after the slide members 15 and 17 are horizontally moved on the arms 119 and 121, and the log P supported by the log abutting portions 19 and 21 has the mouth ends Pa and Pb. Each of the holes T reaches the final position substantially opposite to K6.
The log P that has reached the final position as described above is conveyed to the veneer race by the reciprocating conveyance body composed of the holding bodies 109 and 111 shown in the description of the embodiment of the present invention.
[0039]
In this modified example, similar to the modified example described with reference to FIG. 23, the CCD camera 133b and the CCD camera 133d may be provided at positions opposite to K6.
That is, first, the position of the hole in the log of the log P is detected by the CCD cameras 133a and 133c at the position K4, and the male screws 31 and 33 and the male screws 127 and 137 are respectively rotated by a predetermined amount based on the detected information. Move to a position opposite to K6 without stopping at the position. The CCD camera 133b and camera 133d then detect the positions of the holes in the log P of the log P, and the male screws 31, 33 and the male screws 127, 137 are respectively rotated by a predetermined amount based on the detected information. Therefore, the log P is moved to a position that corresponds well.
[0040]
3. The holding member for holding the log may be configured to hold the log from above with a gripping claw or the like in addition to the structure to support the log from below as in the embodiment of the present invention.
4. In the embodiment of the invention, before the log reaches the front of the lenses 62a, 62b, 62c, 62d of the CCD cameras 63a, 63b, 63c, 63d as an example of the image pickup device, Is measured in advance by a linear encoder 89, which is an example of a distance measuring device. When the log arrives in front of each CCD camera 63a, 63b, 63c, 63d, the linear shown in FIGS. The same measurement is performed by the mechanism such as the encoder 89, and the CCD cameras 63a, 63b, 63c, and 63d are moved in the direction of approaching or separating from the mouth by a moving device such as the servo motors 60a and 60b based on the measured information. good.
5. The mark to be attached to the culvert may be anything as long as it can be discriminated by an imaging device such as a CCD camera, such as a black ink circle in addition to the hole T.
6. The imaging device may be any device that can change light information into an electrical signal, such as a CCD camera.
7. As the distance measuring device, for example, a distance measuring camera having an autofocus mechanism is provided in the vicinity of the CCD cameras 63a, 63b, 63c, and 63d, and the distance value to the butt obtained by the autofocus mechanism is set. Accordingly, the CCD cameras 63a, 63b, 63c, and 63d may be moved in a direction that approaches or separates from the end.
8. In the apparatus shown in FIGS. 8 to 10 as the distance measuring device for measuring the first distance between the lens of the CCD camera and the mouth, the mouths Pa and Pb of the log P are pushed by the mouth abutting members 71 and 73. 8, the central position between the two bars 65 and 66 and the central position of the raw wood P in the fiber direction coincide with each other, but the raw wood P is not pushed and the first distances are different from each other. And the CCD camera may be moved so that an image is formed on the image sensor in accordance with the value.
[0041]
【The invention's effect】
As described above, in the present invention, a CCD camera or the like having a small focal length of the lens at the first position obtains information on the position of the mark on the lip, and then a CCD having a large focal length at the second position. Since the image pickup device such as a camera is configured to obtain information on the position of the mark on the lip, a large area of the lip is projected as an image on the image pickup device at the first position, and the position of the hole T can be detected almost certainly. Next, the log P is moved to the second position. Although the area that can be copied is narrow at the second position, the hole T is located in the narrow area based on the position information of the hole T detected at the first position. The log P can be moved as shown. However, although the lens at the first position has a low resolution and the accuracy of the detected position is poor, the position of the hole T can be accurately detected by detecting this with a lens having a high resolution at the second position. It can be done.
Therefore, the position of a mark such as a hole formed in the mouth can be detected more accurately on the image pickup device of the image pickup apparatus, and the yield in the veneer race can be improved.
[Brief description of the drawings]
FIG. 1 is an explanatory plan view of an embodiment of the invention.
2 is a view of the direction of the arrow as viewed from the alternate long and short dash line AA in FIG. 1;
3 is a view of the direction of the arrow as viewed from the alternate long and short dash line BB in FIG. 1. FIG.
4 is a view of the direction of the arrow as viewed from the alternate long and short dash line CC in FIG. 1. FIG.
5 is an explanatory side view of the direction of the arrow as viewed from the alternate long and short dash line DD in FIG. 1. FIG.
6 is an explanatory plan view of the direction of the arrow seen from the alternate long and short dash line EE in FIG. 5;
7 shows the positional relationship between the center position K1 of the lens 62a in FIG. 3, the center position K2 of the lens 62b, and the point K3 at which the holes formed in both ends of the log P should reach at the final position. It is explanatory drawing.
8 is a view of the direction of the arrow as viewed from the alternate long and short dash line FF in FIG. 3. FIG.
FIG. 9 is an explanatory plan view of FIG. 8;
10 is a view of the direction of the arrow as viewed from the alternate long and short dash line GG in FIG. 9;
FIG. 11 is an explanatory diagram of an electrical connection state between a controller 91 and each member.
FIG. 12 is an operation explanatory diagram of the embodiment of the invention.
13 is a view of the direction of the arrow as viewed from the alternate long and short dash line HH in FIG. 12;
FIG. 14 is an explanatory diagram of the positions of the holes of the culvert Pa projected on the image sensor.
FIG. 15 is an explanatory diagram of the positions of the holes of the lip Pb projected on the image sensor.
FIG. 16 is an operation explanatory diagram of the embodiment of the invention.
FIG. 17 is an explanatory diagram of the position of the hole of the butt Pa projected on the image sensor.
FIG. 18 is an explanatory diagram of the positions of the holes of the butt Pb projected on the image sensor.
FIG. 19 is an operation explanatory diagram of the embodiment of the invention.
FIG. 20 is an explanatory front view of a reciprocating conveyance body of a log.
21 is an explanatory view of the direction of the arrow as viewed from the alternate long and short dash line SS in FIG. 20;
FIG. 22 is an operation explanatory view of the reciprocating conveyance body of the raw wood.
FIG. 23 is an explanatory front view of a modified example.
FIG. 24 is an explanatory side view of a modified example.
25 is a partial front explanatory view of the direction of the arrow as viewed from the alternate long and short dash line JJ in FIG. 24. FIG.
26 is an explanatory plan view showing a partial cross-sectional view of the direction of the arrow as viewed from the alternate long and short dash line N-N in FIG. 24;
FIG. 27 is an explanatory side view of a main part of a conventional device.
28 is an explanatory plan view of FIG. 27. FIG.
[Explanation of symbols]
1a ・ ・ Rotating shaft
1b..Rotating shaft
7. Arm
9. Arm
60a ・ ・ Servo motor
60b ・ ・ Servo motor
62a ... CCD camera lens
62b · · CCD camera lens
62c · CCD camera lens
62d CCD lens
63a ... CCD camera
63b ... CCD camera
63c CCD camera
63d CCD camera
89 ・ ・ Linear encoder
91 .. Controller

Claims (4)

原木を保持する２個の保持部材と、
２個の保持部材に各々設けられ、該保持部材を原木の繊維方向と直交する方向で第１位置から第２位置へ移動させる２個の移動装置であって、第１位置と第２位置とを結ぶ方向と、該結ぶ方向を通る垂直な仮想面において該結ぶ方向と直交する方向の両方向に、各々独立して移動量を制御可能な２個の移動装置と、
第１位置と第２位置の各位置において、前記垂直な仮想面と直交する方向に原木の繊維方向の長さより長い間隔で、レンズが相対した状態で配置され、該レンズとレンズを経由して入射された原木の木口の像を写す撮像素子とを有する撮像装置であって、第１位置の両撮像装置のレンズの焦点距離は第２位置の両撮像装置のレンズの焦点距離より小とした各撮像装置と、
保持部材が第１位置にある時、原木の両木口の像を各々撮像装置の撮像素子上に結ばせ、両木口に付けられたマークの撮像素子上での位置を各々演算する画像処理演算手段と、
画像処理演算手段からの位置の情報によりマークが第２位置の所定位置に至るように、２個の保持部材の、前記結ぶ方向と前記結ぶ方向と直交する方向の移動量を各々算出し、２個の移動装置に該算出された量各々移動するように作動信号を出す制御器と、
保持部材が第２位置にある時、原木の両木口の像を各々撮像装置の撮像素子上に結ばせ、木口に付けられたマークの撮像素子上での位置を各々演算する画像処理演算手段と、
画像処理演算手段からの位置の情報によりマークが第２位置の所定位置へより正確に至るように、２個の保持部材の、前記結ぶ方向と前記結ぶ方向と直交する方向の移動量を各々算出し、２個の移動装置に該算出された量更に各々移動するように作動信号を出す制御器と、
からなる原木木口のマーク位置検出装置。Two holding members for holding the log,
Two moving devices provided on each of the two holding members and moving the holding members from the first position to the second position in a direction orthogonal to the fiber direction of the raw wood, the first position and the second position, Two moving devices capable of independently controlling the amount of movement in both directions of a direction connecting the connecting direction and a direction orthogonal to the connecting direction in a vertical virtual plane passing through the connecting direction;
At each of the first position and the second position, the lenses are arranged in a state of being opposed to each other at a longer interval than the length of the raw wood fiber direction in a direction orthogonal to the vertical imaginary plane. An image pickup device having an image pickup element that captures an image of an incident wood log, wherein the focal lengths of the lenses of the two image pickup devices at the first position are smaller than the focal lengths of the lenses of the two image pickup devices at the second position. Each imaging device;
When the holding member is in the first position, the image of the both ends of the log is connected to the image pickup device of the image pickup apparatus, and the position of the mark attached to the both ends of the image on the image pickup device is calculated. When,
The information about the position from the image processing operation means such mark reaches the predetermined position of the second position, respectively the calculation of the two holding members, the movement amount in the direction perpendicular to the direction connecting the to the direction connecting the two A controller that issues an actuation signal to each of the calculated amounts to move each of the mobile devices;
Image processing operation means for connecting the images of both ends of the raw wood on the image pickup device of the image pickup device and calculating the positions of the marks attached to the end of the image on the image pickup device when the holding member is in the second position; ,
As marked by information about the position of the image process calculating unit reaches more precisely to a predetermined position of the second position, the calculation of the two holding members, the movement amount in the direction perpendicular to the direction connecting the a direction connecting the respective And a controller that issues an activation signal to each of the two moving devices to further move the calculated amount;
A mark position detection device for the log of the log. 原木を保持する２個の保持部材と、
２個の保持部材に各々設けられ、該保持部材を原木の繊維方向と直交する方向での同一垂直仮想面で該保持部材を第１位置から第２位置を経て第３位置へ移動させる２個の移動装置であって、同一垂直仮想面で任意の方向と該任意の方向と直交する方向の両方向に、各々独立して移動量を制御可能な２個の移動装置と、
第１位置と第２位置の各位置において、前記垂直な仮想面と直交する方向に原木の繊維方向の長さより長い間隔で、レンズが相対した状態で配置され、該レンズとレンズを経由して入射された原木の木口の像を写す撮像素子とを有する撮像装置であって、第１位置の両撮像装置のレンズの焦点距離は第２位置の両撮像装置のレンズの焦点距離より小とした各撮像装置と、
保持部材が第１位置にある時、原木の両木口の像を各々撮像装置の撮像素子上に結ばせ、両木口に付けられたマークの撮像素子上での位置を各々演算する画像処理演算手段と、
画像処理演算手段からの位置の情報によりマークが第２位置の所定位置に至るように、２個の保持部材の、前記任意の方向と前記任意の方向と直交する方向の移動量を各々算出し、２個の移動装置に該算出された量各々移動するように作動信号を出す制御器と、
保持部材が第２位置にある時、原木の両木口の像を各々撮像装置の撮像素子上に結ばせ、木口に付けられたマークの撮像素子上での位置を各々演算する画像処理演算手段と、
画像処理演算手段からの位置の情報によりマークが第３位置の所定位置に至るように、２個の保持部材の、前記任意の方向と前記任意の方向と直交する方向の移動量を各々算出し、２個の移動装置に該算出された量各々移動するように作動信号を出す制御器と、
からなる原木木口のマーク位置検出装置。Two holding members for holding the log,
Two pieces each provided on two holding members and moving the holding members from the first position to the third position through the second position on the same vertical virtual plane in the direction perpendicular to the fiber direction of the raw wood Two moving devices capable of independently controlling the amount of movement in both directions of an arbitrary direction and a direction orthogonal to the arbitrary direction on the same vertical virtual plane,
At each of the first position and the second position, the lenses are arranged in a state of being opposed to each other at a longer interval than the length of the raw wood fiber direction in a direction orthogonal to the vertical imaginary plane. An image pickup device having an image pickup element that captures an image of an incident wood log, wherein the focal lengths of the lenses of the two image pickup devices at the first position are smaller than the focal lengths of the lenses of the two image pickup devices at the second position. Each imaging device;
When the holding member is in the first position, the image of the both ends of the log is connected to the image pickup device of the image pickup apparatus, and the position of the mark attached to the both ends of the image on the image pickup device is calculated. When,
The movement amounts of the two holding members in the direction perpendicular to the arbitrary direction are calculated so that the mark reaches the predetermined position of the second position based on the position information from the image processing calculation means. A controller that issues an actuation signal to move each of the calculated amounts to two mobile devices;
Image processing operation means for connecting the images of both ends of the raw wood on the image pickup device of the image pickup device and calculating the positions of the marks attached to the end of the image on the image pickup device when the holding member is in the second position; ,
The movement amounts of the two holding members in the direction perpendicular to the arbitrary direction are calculated so that the mark reaches the predetermined position of the third position based on the position information from the image processing calculation means. A controller that issues an actuation signal to move each of the calculated amounts to two mobile devices;
A mark position detection device for the log of the log. 移動装置が、原木の繊維方向と直交する方向に保持部材を案内する案内部材を有し且つ第１位置側において原木の繊維方向と平行な同一仮想線上に間隔をおいて回動中心があり第１作動部材により互いに独立して所定角度回動自在の２個のアームと、保持部材を案内部材により案内しつつ所定量移動させる第２作動部材とからなる請求項１又は２記載の原木木口のマーク位置検出装置。  The moving device has a guide member that guides the holding member in a direction perpendicular to the fiber direction of the raw wood, and has a rotation center at a first position on the same imaginary line parallel to the fiber direction of the raw wood at an interval. 3. The log of the wood log according to claim 1 or 2, comprising two arms that can be rotated by a predetermined angle independently by one operating member, and a second operating member that moves the holding member by a predetermined amount while being guided by the guiding member. Mark position detection device. 移動装置が、原木の繊維方向と直交する水平方向に保持部材を案内する案内部材を有し且つ第３作動部材により垂直方向に互いに独立して所定量移動自在の２個のアームと、保持部材を案内部材により案内しつつ所定量移動させる第４作動部材とからなる請求項１又は２記載の原木木口のマーク位置検出装置。  Two arms having a guide member for guiding a holding member in a horizontal direction perpendicular to the fiber direction of the raw wood and movable by a predetermined amount independently from each other in the vertical direction by a third actuating member, and a holding member 3. A mark position detection device for a log of a wood log according to claim 1 or 2, comprising a fourth actuating member that moves a predetermined amount while being guided by a guide member.
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