JP4603179B2

JP4603179B2 - Mark position detector for log of wood

Info

Publication number: JP4603179B2
Application number: JP2001043456A
Authority: JP
Inventors: 優小池
Original assignee: Meinan Machinery Works Inc
Current assignee: Meinan Machinery Works Inc
Priority date: 2000-02-21
Filing date: 2001-02-20
Publication date: 2010-12-22
Anticipated expiration: 2021-02-20
Also published as: JP2001310307A

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より検出するための、原木木口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としては、例えば図２３に示すように構成されている。
即ち、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２０３とレンズ２０３を経由して入射された原木の像を写す撮像素子２０５とを備えた例えばＣＣＤ（ charge coupled device）カメラ２０７を備えている。ＣＣＤカメラ２０７の撮像素子２０５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２０５上での孔２０１ｂの位置の情報を得ている。
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の木口のマーク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、刃物（図示せず）により切削している。
この時、原木２０１の繊維方向の長さは１本毎に異なるため、ＣＣＤカメラ２０７と各原木の木口との間の距離も異なることになる。そのため原木毎に、レンズ２０３を備えた筒部２０４を、ＣＣＤカメラ２０７本体即ち撮像素子２０５に対し接近又は離隔する方向に移動させ、原木２０１の木口２０１ａの実像が撮像素子２０５上にピントが合った状態とし、前記情報を得ていた。
【０００３】
【発明が解決すべき課題】
しかるに、図２４の拡大説明図で示すようにＣＣＤカメラのレンズ２０３を、ピントを合わせるために撮像素子２０５に対しＬａの位置からＬｂの位置に移動させた場合、レンズ２０３の光軸がずれることは装置の精度上避けられない。
そのため、Ｌａの位置にあるレンズ２０３の光軸をＷ１−Ｗ１、Ｌｂの位置にあるレンズ２０３の光軸をＷ２−Ｗ２とすると、両光軸は角度Ｚで交差することになる。尚、このような交差は１本の光軸に対し３６０度の方向に生じるが、便宜上図２４に示した１断面で説明する。
仮にレンズ２０３と木口までの距離が２０００ｍｍであってＺが１度であると、ｔａｎ１度＝０．０１７５であるため、撮像素子２０５上での像の位置は実際の位置に対し２０００ｍｍ×０．０１７５＝３５ｍｍずれてしまい、該ずれた像から誤った位置の情報が得られてしまう。
該Ｚが１度の５分の１であったとしても、撮像素子２０５上での像の位置は実際の位置に対し約７ｍｍずれたものとなってしまうのである。
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、所定位置に待機し、木口にマークが付けられた原木を保持する保持部材と、保持部材に保持された原木の木口に相対してして配置され、レンズとレンズを経由して入射された木口の像を写す撮像素子とが固定された位置に設けられ、レンズと木口間が第２距離のときに撮像素子上に像を結ぶ撮像装置と、撮像装置を前記木口に対し接近又は離隔する方向に移動させる移動装置と、撮像装置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、距離測定装置で測定された第１距離の値と、第２距離の値とを比較し、第１距離の値が第２距離の値となるまで、撮像装置を木口に対し接近又は離隔する方向に移動するよう移動装置に作動信号を出し、また第１距離の値が第２距離の値と等しくなると前記移動を停止させるように移動装置に停止信号を出す制御器と、撮像装置が前記停止した後、撮像素子からの情報を受け取り、木口のマークの撮像素子上での位置を演算する画像処理演算手段とで構成する。
また所定位置に待機し、木口にマークが付けられた原木を保持する保持部材と、保持部材に保持された原木の木口に相対してして配置され、取付台に取り付けられ、レンズとレンズを経由して入射された木口の像を写す撮像素子とが固定された位置に設けられ、レンズと木口間が第２距離のときに撮像素子上に像を結ぶ撮像装置と、該取付台を原木木口に接近及び離隔する方向に案内する案内部材と、前記レンズの光軸を案内部材の案内方向と平行にするために該取付台に備えられた光軸変更装置と、該取付台を、案内部材に案内されつつ移動させる移動装置と、撮像装置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、距離測定装置で測定された第１距離の値と、第２距離の値とを比較し、第１距離の値が第２距離の値となるまで、撮像装置を木口に対し接近又は離隔する方向に移動するよう移動装置に作動信号を出し、また第１距離の値が第２距離の値と等しくなると前記移動を停止させるように移動装置に停止信号を出す制御器と、撮像装置が前記停止した後、撮像素子からの情報を受け取り、木口のマークの撮像素子上での位置を演算する画像処理演算手段とで構成しても良い。
【０００５】
更には、所定位置に待機し、木口にマークが付けられた原木を保持するため原木の繊維方向に間隔をおいて配置された２個の保持部材と、
保持部材に保持された原木の両木口に相対してして配置され、２個の取付台に各々取り付けられ、レンズとレンズを経由して入射された木口の像を写す撮像素子とが固定された位置に設けられ、レンズと木口間が第２距離のときに撮像素子上に像を結ぶ２個の撮像装置と、前記各取付台を、各々原木木口に接近及び離隔する方向に案内する案内部材と、前記レンズの光軸を案内部材の案内方向と平行にするために前記各取付台に備えられた光軸変更装置と、前記各取付台を、案内部材に案内されつつ移動させる移動装置と、各撮像装置のレンズと、相対する木口との間の第１距離を各々測定する距離測定装置と、距離測定装置で測定された各距離の値と、第２距離の値とを比較し、各第１距離の値が第２距離の値となるまで、２個の撮像装置を各々相対する木口に対し接近又は離隔するよう移動装置に作動信号を出し、また第１距離の値が第２距離の値と等しくなると前記移動を停止させるように各々移動装置に停止信号を出す制御器と、撮像装置が前記停止した後、撮像素子からの情報を受け取り、木口のマークの撮像素子上での位置を演算する画像処理演算手段とで構成しても良い。
また所定位置に待機し、木口にマークが付けられた原木を保持するため原木の繊維方向に間隔をおいて配置された２個の保持部材と、保持部材に保持された原木の両木口に相対してして配置され、２個の取付台に各々取り付けられ、レンズとレンズを経由して入射された木口の像を写す撮像素子とが固定された位置に設けられ、レンズと木口間が第２距離のときに撮像素子上に像を結ぶ２個の撮像装置と、前記各取付台を、各々原木木口に接近及び離隔する方向に案内する案内部材と、前記レンズの光軸を案内部材の案内方向と平行にするために前記各取付台に備えられた光軸変更装置と、前記各取付台を、２個の相対する撮像装置のレンズ間での任意位置の基点から各レンズまでの距離が常に互いに等しくなる状態で、案内部材に案内されつつ両レンズが接近及び離隔するように移動させる移動装置と、２個の保持部材に、２個の撮像装置のレンズから等しい距離となる位置に各々木口がある状態に原木を供給する供給装置と、一方の撮像装置のレンズと、相対する木口との間の第１距離を測定する距離測定装置と、距離測定装置で測定された第１距離の値と、撮像装置の撮像素子上に像を結ぶために必要なレンズと木口間の第２距離の値とを比較し、第１距離の値が第２距離の値となるまで、２個の撮像装置を各々相対する木口に対し接近又は離隔するよう移動装置に作動信号を出し、また第１距離の値が第２距離の値と等しくなると前記移動を停止させるように各々移動装置に停止信号を出す制御器と、撮像装置が前記停止した後、撮像素子からの情報を受け取り、木口のマークの撮像素子上での位置を演算する画像処理演算手段とで構成しても良い。
【０００６】
また所定位置に待機し、木口にマークが付けられた原木を保持するため原木の繊維方向に間隔をおいて配置された２個の保持部材と、保持部材に保持された原木の両木口に相対してして配置され、２個の取付台に各々取り付けられ、レンズとレンズを経由して入射された木口の像を写す撮像素子とが固定された位置に設けられ、レンズと木口間が第２距離のときに撮像素子上に像を結ぶ２個の撮像装置と、前記各取付台を、各々原木木口に接近及び離隔する方向に案内する案内部材と、前記レンズの光軸を案内部材の案内方向と平行にするために前記各取付台に備えられた光軸変更装置と、前記各取付台を、２個の相対する撮像装置のレンズ間での任意位置の基点から各レンズまでの距離が常に互いに等しくなる状態で、案内部材に案内されつつ両レンズが接近及び離隔するように移動させる移動装置と、２個の保持部材に、２個の撮像装置のレンズから等しい距離となる位置に各々木口がある状態に原木を供給する供給装置と、供給装置で原木を保持部材に供給する前に、一方の撮像装置のレンズと、相対する木口との間の第１距離を予め測定する距離測定装置と、距離測定装置で測定された第１距離の値と、撮像装置の撮像素子上に像を結ぶために必要なレンズと木口間の第２距離の値とを比較し、第１距離の値が第２距離の値となるまで、２個の撮像装置を各々相対する木口に対し接近又は離隔するよう移動装置に作動信号を出し、また第１距離の値が第２距離の値と等しくなると前記移動を停止させるように各々移動装置に停止信号を出す制御器と、撮像装置が前記停止した後、撮像素子からの情報を受け取り、木口のマークの撮像素子上での位置を演算する画像処理演算手段とで構成しても良い。
更には、所定位置に待機し、木口にマークが付けられた原木を保持するため原木の繊維方向に間隔をおいて配置された２個の保持部材と、原木の繊維方向で２個の保持部材を間に挟む状態で間隔をおいて配置された２個の取付台に各々取り付けられ、レンズとレンズを経由して入射された木口の像を写す撮像素子とが固定された位置に設けられ、レンズと木口間が第２距離のときに撮像素子上に像を結ぶ２個の撮像装置と、前記各取付台を、相対する保持部材に接近及び離隔する方向に案内する案内部材と、前記レンズの光軸を案内部材の案内方向と平行にするために前記各取付台に備えられた光軸変更装置と、前記各取付台を、２個の相対する撮像装置のレンズ間での任意位置の基点から各レンズまでの距離が常に互いに等しくなる状態で、案内部材に案内されつつ両レンズが接近及び離隔するように移動させる移動装置と、２個の保持部材に原木を供給する供給装置と、前記供給装置上で、原木が２個の保持部材に供給された時、原木の木口が繊維方向で前記基点からほぼ等しい距離にある様に、原木の両木口に向かって互いに等しい距離で前後動し原木を移動させる２個の当接部材と、前記当接部材の移動量により、原木が２個の保持部材に供給された時の、前記基点から原木の一方側木口までの第１距離を測定する距離測定装置と、距離測定装置で測定された第１距離の値と、撮像装置の撮像素子上に像を結ぶために必要なレンズと木口間の第２距離の値とを比較し、第１距離の値が第２距離の値となるまで、２個の撮像装置を各々相対する木口に対し接近又は離隔するよう移動装置に作動信号を出し、また第１距離の値が第２距離の値と等しくなると前記移動を停止させるように各々移動装置に停止信号を出す制御器と、撮像装置が前記停止した後、撮像素子からの情報を受け取り、木口のマークの撮像素子上での位置を演算する画像処理演算手段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。
【００１４】
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。
【００１５】
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。
【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つ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を測定するために、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、例えばＣＣＤカメラが８００ｍｍ往復動しても、撮像素子上での孔Ｔの位置のずれは実測によれば１ｍｍ以下であった。
【００２８】
以上のように最終位置に到達した原木Ｐは、該最終位置の原木Ｐを挟持する位置と、原木Ｐをベニヤレースのスピンドルにより受け渡す位置との間を往復動する往復搬送体で搬送する。
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、１１５を互いに接近する方向に移動させると、両スピンドル１１３、１１５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、１１５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、１１５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、原木が撮像装置の１つである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つ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。
２、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。
３、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。
４、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。
５、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。
【００３３】
【発明の効果】
以上のように本発明では、ＣＣＤカメラ等の撮像装置の撮像素子上に像を結ばせるために、原木木口と撮像装置のレンズとの距離を距離測定装置で測定し、該測定された距離に対応して撮像装置自体を木口に接近又は離隔する方向に移動させるので、該撮像装置のレンズだけを移動させた場合に比べ光軸のずれは極めて小さくなる。
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】従来装置の要部の側面説明図である。
【図２４】レンズ２０３の光軸のずれを示す拡大説明図である。
【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, a mark such as a hole formed by a drill is previously attached to a position that should be the center of rotation of both ends of the log. The present invention relates to a mark position detection device for a log of a wood log.
[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, an image pickup apparatus including a lens and an image pickup element that captures an image of a raw tree incident through the lens for detecting a mark such as a hole in the mouth is configured as shown in FIG. 23, for example. Yes.
That is, for example, a CCD (charge coupled device) including a lens 203 and an image sensor 205 that captures an image of the raw wood incident through the lens 203 is formed in the hole 201b so as to be opposed to the wood 201a of the raw wood 201 that receives oblique light. A camera 207 is provided. On the image sensor 205 of the CCD camera 207, the hole 201b of the lip 201a appears as a black circle by oblique light, and this image is displayed by image processing calculation means (not shown) on the position information of the hole 201b on the image sensor 205. Have gained.
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, each gripping claw is moved so that the position of the center of rotation of the spindle of the veneer lace and the position of the mark on the log of the log 201 are moved according to the position information, and the log 201 is held by the spindle. Then, it cuts with the blade (not shown).
At this time, since the length of the raw wood 201 in the fiber direction is different for each one, the distance between the CCD camera 207 and the end of each raw wood is also different. Therefore, for each log, the cylindrical part 204 having the lens 203 is moved in a direction approaching or separating from the main body of the CCD camera 207, that is, the image sensor 205, and the real image of the wood mouth 201 a of the log 201 is focused on the image sensor 205. The above information was obtained.
[0003]
[Problems to be Solved by the Invention]
However, as shown in the enlarged explanatory view of FIG. 24, when the lens 203 of the CCD camera is moved from the position of La to the position of Lb with respect to the image sensor 205 in order to focus, the optical axis of the lens 203 is shifted. Is inevitable due to the accuracy of the equipment.
Therefore, if the optical axis of the lens 203 at the La position is W1-W1 and the optical axis of the lens 203 at the Lb position is W2-W2, the optical axes intersect at an angle Z. Note that such an intersection occurs in a direction of 360 degrees with respect to one optical axis, but for the sake of convenience, this will be described with one cross section shown in FIG.
If the distance between the lens 203 and the lip is 2000 mm and Z is 1 degree, tan1 degree = 0.0175, so the position of the image on the image sensor 205 is 2000 mm × 0. 0175 = 35 mm is deviated, and information on an incorrect position is obtained from the deviated image.
Even if Z is 1/5 of a degree, the position of the image on the image sensor 205 is shifted by about 7 mm from 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 the spindle and cut by the blade, the yield will be reduced.
[0004]
[Means for Solving the Problems]
In order to solve the above-mentioned problem, the present invention waits at a predetermined position and is arranged to hold the log with the log attached to the log and the log of the log held by the holding member. An imaging device provided with a lens and an imaging device that captures an image of a lip that is incident through the lens, and connecting the image on the imaging device when the distance between the lens and the lip is a second distance ; A moving device for moving the device in a direction approaching or separating from the mouth, a distance measuring device for measuring a first distance between the lens of the imaging device and the mouth, and a first distance measured by the distance measuring device. the value is compared with the value of the second distance, until the value of the first distance has a value of the second distance, it issues an actuation signal to the mobile device to move in a direction toward or away from the imaging device to the butt end When the value of the first distance is equal to the value of the second distance A controller that issues a stop signal to the mobile device so as to stop the movement, and an image processing operation that receives information from the image sensor after the image sensor has stopped and calculates the position of the mark on the image sensor on the image sensor Means.
The waiting position, a holding member for holding a timber that is marked on the butt end, disposed relative to the butt end of the timber held by the holding member, mounting et is to mount the lens and the lens An image pickup device that captures an image of a lip that is incident via the image pickup device, the image pickup device that connects the image on the image pickup device when the distance between the lens and the lip is a second distance, and the mounting base. A guide member that guides in a direction approaching and separating from the log mouth, an optical axis changing device provided in the mount to make the optical axis of the lens parallel to the guide direction of the guide member, and the mount; A moving device that is moved while being guided by the guide member, a distance measuring device that measures a first distance between the lens of the imaging device and the mouth, a value of the first distance measured by the distance measuring device, and a second distance And the first distance value becomes the second distance value. Then, an operation signal is sent to the moving device so as to move the imaging device in a direction approaching or moving away from the mouth, and the moving device is stopped so that the movement is stopped when the value of the first distance becomes equal to the value of the second distance. You may comprise the controller which outputs a stop signal, and the image-processing calculating means which receives the information from an image pick-up element, and calculates the position on the image pick-up element of a lip after the image pick-up apparatus stops.
[0005]
Furthermore, two holding members arranged at intervals in the fiber direction of the raw wood in order to hold the raw wood with a mark at the end, waiting at a predetermined position,
Disposed relative to both end grain of held by the holding member timber, each mounting et is, an image pickup device via a lens and a lens Projecting an image of the end grain, which is incident fixed to two mount The two image pickup devices that are provided at the positions and connect the image on the image pickup device when the lens and the mouth end are at the second distance, and the respective mounting bases are guided in a direction approaching and separating from the original mouth end. A guide member, an optical axis changing device provided on each mounting base to make the optical axis of the lens parallel to the guiding direction of the guide member, and a movement for moving each mounting base while being guided by the guide member The distance measurement device that measures the first distance between the device, the lens of each imaging device, and the opposite end, the distance value measured by the distance measurement device, and the second distance value are compared. Two imaging devices until each first distance value becomes the second distance value Control that issues an operation signal to the moving device so as to approach or separate from each opposite butt, and outputs a stop signal to each moving device so as to stop the movement when the value of the first distance becomes equal to the value of the second distance And an image processing calculation unit that receives information from the image sensor and calculates the position of the mark on the image sensor on the image sensor after the image pickup apparatus is stopped.
In addition, it waits at a predetermined position, and holds two log members spaced apart in the fiber direction of the log to hold the log with the mark attached to the log, and relative to both log ends of the log held by the holding member disposed in each mounting et is the two mount provided at a position where the imaging device is fixed by way of the lens and the lens Projecting an image of the end grain, which is incident between the lens and the butt end is Two imaging devices that connect an image on the imaging device at the second distance, a guide member that guides each of the mounting bases in a direction approaching and separating from the log, and a guide member that guides the optical axis of the lens The optical axis changing device provided on each of the mounting bases to be parallel to the guide direction of each of the mounting bases, and the respective mounting bases from a base point at an arbitrary position between the lenses of two opposing imaging devices to each lens. Guided by the guide member with the distances always equal to each other A moving device that moves the two lenses so as to approach and separate from each other, and a supply device that supplies the logs to the two holding members in a state where each of the two ends has equal ends from the lenses of the two image pickup devices. The distance measuring device for measuring the first distance between the lens of one image pickup device and the opposite end, the value of the first distance measured by the distance measuring device, and the image on the image pickup device of the image pickup device The lens necessary for tying and the second distance value between the mouth ends are compared, and the two image pickup devices are approached or separated from the opposite end ends until the first distance value becomes the second distance value. A controller that issues a stop signal to each moving device so as to stop the movement when the value of the first distance becomes equal to the value of the second distance, and the imaging device is stopped. After receiving information from the image sensor, The position on the image pickup device of click may be constituted by an image processing means for calculating.
[0006]
In addition, it waits at a predetermined position, and holds two log members spaced apart in the fiber direction of the log to hold the log with the mark attached to the log, and relative to both log ends of the log held by the holding member disposed in each mounting et is the two mount provided at a position where the imaging device is fixed by way of the lens and the lens Projecting an image of the end grain, which is incident between the lens and the butt end is Two imaging devices that connect an image on the imaging device at the second distance, a guide member that guides each of the mounting bases in a direction approaching and separating from the log, and a guide member that guides the optical axis of the lens The optical axis changing device provided on each of the mounting bases to be parallel to the guide direction of each of the mounting bases, and the respective mounting bases from a base point at an arbitrary position between the lenses of two opposing imaging devices to each lens. Guided by the guide member with the distances always equal to each other A moving device that moves the two lenses so as to approach and separate from each other, and a supply device that supplies the logs to the two holding members in a state where each of the two ends has equal ends from the lenses of the two image pickup devices. Before supplying the log to the holding member with the supply device, a distance measuring device that measures in advance a first distance between the lens of one of the imaging devices and the opposite end of the lens, and a first measured by the distance measuring device The distance value is compared with the second distance value between the lens and the end necessary for forming an image on the image pickup device of the image pickup device, and 2 until the first distance value becomes the second distance value. An operation signal is sent to the moving device so that each of the image pickup devices approaches or separates from the opposite pier, and each moving device is stopped so as to stop the movement when the value of the first distance becomes equal to the value of the second distance. The controller that issues a stop signal and the imaging device After receiving the information from the imaging device, may be constituted by an image processing means for calculating the position on the imaging element of the mark of the butt end.
Furthermore, two holding members arranged at intervals in the fiber direction of the raw wood in order to hold the raw wood with a mark at the end and waiting at a predetermined position, and two holding members in the fiber direction of the raw wood each mounting et is provided at a position where the imaging device is fixed by way of the lens and the lens Projecting an image of the end grain, which is incident on the two mount arranged at a distance in a state of sandwiching Two imaging devices that connect an image on the imaging device when the lens and the mouth end are at a second distance; a guide member that guides each of the mounting bases toward and away from the opposing holding member; and An optical axis changing device provided on each mounting base in order to make the optical axis of the lens parallel to the guide direction of the guide member, and each mounting base at an arbitrary position between the lenses of two opposing imaging devices In the state where the distance from the base point to each lens is always equal to each other A moving device that moves the two lenses so as to approach and separate from each other while being guided by the guide member, a supply device that supplies the log to the two holding members, and the log to the two holding members on the supply device Two abutting members for moving the log by moving back and forth at equal distances toward both log ends of the log so that the log of the log is approximately equal distance from the base point in the fiber direction when supplied, and A distance measuring device that measures a first distance from the base point to one end of the raw wood when the raw wood is supplied to the two holding members according to the amount of movement of the contact member, and the distance measuring device. The value of the first distance is compared with the value of the second distance between the lens and the end necessary for forming an image on the image sensor of the imaging device, and the value of the first distance becomes the value of the second distance. Move the two imaging devices closer to or away from the opposite culverts A controller that issues an operation signal to the moving device and outputs a stop signal to each moving device so as to stop the movement when the value of the first distance becomes equal to the value of the second distance, and after the imaging device has stopped The image processing unit may be configured to receive information from the image sensor and calculate the position of the mark on the image sensor on the image sensor.
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 servomotor 35 having an absolute rotary encoder (not shown) fixed to the bottom plate 7c on the rotating shaft 1a side, and the male screw 31 is rotated by the rotation of the servomotor 35. Thus, the slide member 15 can reciprocate along the linear guide 11.
[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). The servo motor 43 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]
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.
[0014]
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.
[0015]
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 the final position on the arms 7 and 9, the point K3 (the point where the thin lines are perpendicular to each other in FIG. 7) that each hole T formed at both ends of the log P should reach is the same. Although only shown on the lens 62a, 62b side in FIG. 7, the distance Mx is set in the left-right direction and the distance My is set in the up-down direction with respect to K2, and K3 in FIG. K3 is set at the same position in the vertical direction and the vertical direction.
Note that these values of the distances Lx, Ly, Mx, My are input in advance to the controller 91 described later.
[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. The threshold value is set so that a signal is transmitted to the controller 90 which is one of the image processing calculation means 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 measure the distance L2 between the end 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 in the center on the image pickup devices of the CCD cameras 63b and 63d is that the focal lengths of the lenses 62a and 62c of the CCD cameras 63a and 63c are as described above. This is because the resolution is low and the resolution is low, and the values of x1, y1, x2, and y2 become 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, even if the CCD camera reciprocates by 800 mm, for example, the displacement of the position of the hole T on the image sensor was 1 mm or less according to actual measurement.
[0028]
The log P that has reached the final position as described above is conveyed by a reciprocating conveyance body that reciprocates between the position where the log P at the final position is sandwiched and the position where the log P is delivered by the spindle of the veneer race.
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 and 115 of the veneer race are moved in a direction approaching each other, the center of rotation of both spindles 113 and 115 and the center Q of the notch recesses 109a and 111a, that is, both ends Pa and Pb of the log P are formed. The log P is held by both spindles 113 and 115 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 to rotate the slide members 15 and 17, respectively. The arms 7 and 9 are rotated toward the shafts 1a and 1b, and both are kept waiting at the initial position where they are in a horizontal state as shown in FIG. Is activated.
[0032]
Next, a modified example of the present invention will be described.
1. 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, which are one of the image pickup devices, the mouth ends Pa, Pb Is measured in advance by a linear encoder 89 which is one of distance measuring devices. When the log reaches the front of each of the CCD cameras 63a, 63b, 63c and 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.
2. 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.
3. 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.
4. As the imaging device, any device can be used as long as it can change light information into an electrical signal, such as a CCD camera.
5. 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.
[0033]
【The invention's effect】
As described above, in the present invention, in order to form an image on an image sensor of an image pickup apparatus such as a CCD camera, the distance between the raw tree mouth and the lens of the image pickup apparatus is measured by the distance measuring device, and the measured distance is obtained. Correspondingly, since the image pickup apparatus itself is moved in a direction approaching or separating from the mouth, the optical axis shift is extremely small as compared with the case where only the lens of the image pickup apparatus is moved.
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 side view of a main part of a conventional device.
FIG. 24 is an enlarged explanatory view showing the deviation of the optical axis of the lens 203;
[Explanation of symbols]
1a ··· Rotary shaft 1b · · Rotary shaft 7 · Arm 9 · Arm 60a · · Servomotor 60b · · Servomotor 62a · · CCD camera lens 62b · · CCD camera lens 62c · · CCD camera Lens 62d · CCD camera lens 63a · CCD camera 63b · CCD camera 63c · CCD camera 63d · CCD camera 89 · · Linear encoder 91 · · Controller

Claims

A holding member that waits at a predetermined position and holds a log with a mark attached to the end,
The lens and the image pickup element that captures the image of the lip that is incident through the lens are disposed at a fixed position with respect to the lip of the raw wood held by the holding member. An imaging device that ties an image on the imaging device at the second distance ;
A moving device that moves the imaging device in a direction approaching or separating from the mouth;
A distance measuring device for measuring a first distance between the lens of the imaging device and the mouth;
The value of the first distance measured by the distance measuring device is compared with the value of the second distance, until the value of the first distance has a value of the second distance, direction toward or away from the imaging device to the butt end A controller that issues an activation signal to the moving device to move to the position, and that issues a stop signal to the moving device to stop the movement when the value of the first distance is equal to the value of the second distance;
An apparatus for detecting a mark position of an original tree mouth comprising image processing calculation means for receiving information from the image pickup device and calculating the position of the mark on the image pickup device after the image pickup device has stopped.

A holding member that waits at a predetermined position and holds a log with a mark attached to the end,
Disposed relative to the butt end of the timber held by the holding member, mounting et is to mount, provided at a position where the imaging device is fixed by way of the lens and the lens Projecting an image of the end grain of incident An imaging device that forms an image on the imaging device when the distance between the lens and the mouth is a second distance ;
A guide member for guiding the mounting base in a direction approaching and separating from the log mouth;
An optical axis changing device provided on the mounting base in order to make the optical axis of the lens parallel to the guide direction of the guide member;
A moving device for moving the mounting base while being guided by the guide member;
A distance measuring device for measuring a first distance between the lens of the imaging device and the mouth;
The value of the first distance measured by the distance measuring device is compared with the value of the second distance, until the value of the first distance has a value of the second distance, direction toward or away from the imaging device to the butt end A controller that issues an activation signal to the moving device to move to the position, and that issues a stop signal to the moving device to stop the movement when the value of the first distance is equal to the value of the second distance;
An apparatus for detecting a mark position of an original tree mouth comprising image processing calculation means for receiving information from the image pickup device and calculating the position of the mark on the image pickup device after the image pickup device has stopped.

Two holding members arranged at intervals in the fiber direction of the raw wood to hold the raw wood with a mark on the end, waiting in place,
Disposed relative to both end grain of held by the holding member timber, each mounting et is, an image pickup device via a lens and a lens Projecting an image of the end grain, which is incident fixed to two mount Two imaging devices that are provided at a position where the lens and the mouth end connect an image on the imaging device when the distance is a second distance ;
A guide member for guiding each of the mounting bases in a direction approaching and separating from the log mouth;
An optical axis changing device provided on each of the mounts in order to make the optical axis of the lens parallel to the guide direction of the guide member;
A moving device for moving each mounting base while being guided by a guide member;
A distance measuring device that measures a first distance between the lens of each imaging device and the opposite end;
And the value of each distance measured by the distance measuring device is compared with the value of the second distance, the value of each first distance until the value of the second distance, each opposed end grain of the two imaging devices A controller for issuing an activation signal to the moving device to approach or separate from each other, and to issue a stop signal to each moving device to stop the movement when the value of the first distance is equal to the value of the second distance;
An apparatus for detecting a mark position of an original tree mouth comprising image processing calculation means for receiving information from the image pickup device and calculating the position of the mark on the image pickup device after the image pickup device has stopped.

Two holding members arranged at intervals in the fiber direction of the raw wood to hold the raw wood with a mark on the end, waiting in place,
Disposed relative to both end grain of held by the holding member timber, each mounting et is, an image pickup device via a lens and a lens Projecting an image of the end grain, which is incident fixed to two mount Two imaging devices that are provided at a position where the lens and the mouth end connect an image on the imaging device when the distance is a second distance ;
A guide member for guiding each of the mounting bases in a direction approaching and separating from the log mouth;
An optical axis changing device provided on each of the mounts in order to make the optical axis of the lens parallel to the guide direction of the guide member;
The mounting bases are moved toward and away from each other while being guided by the guide member in a state in which the distance from the base point at an arbitrary position between the lenses of the two opposing imaging devices to each lens is always equal to each other. A moving device to be moved to,
A supply device for supplying logs to two holding members in a state where there is a mouth end at a position at an equal distance from the lenses of the two imaging devices;
A distance measuring device for measuring a first distance between the lens of one imaging device and the opposite end;
The value of the first distance measured by the distance measuring device is compared with the value of the second distance between the lens and the end required for forming an image on the image sensor of the imaging device. An operation signal is sent to the moving device so that the two image pickup devices approach or separate from the opposite piers until the two distance values are obtained, and the movement is performed when the first distance value becomes equal to the second distance value. A controller that issues a stop signal to each mobile device so as to stop
An apparatus for detecting a mark position of an original tree mouth comprising image processing calculation means for receiving information from the image pickup device and calculating the position of the mark on the image pickup device after the image pickup device has stopped.

Two holding members arranged at intervals in the fiber direction of the raw wood to hold the raw wood with a mark on the end, waiting in place,
Disposed relative to both end grain of held by the holding member timber, each mounting et is, an image pickup device via a lens and a lens Projecting an image of the end grain, which is incident fixed to two mount Two imaging devices that are provided at a position where the lens and the mouth end connect an image on the imaging device when the distance is a second distance ;
A guide member for guiding each of the mounting bases in a direction approaching and separating from the log mouth;
An optical axis changing device provided on each of the mounts in order to make the optical axis of the lens parallel to the guide direction of the guide member;
The mounting bases are moved toward and away from each other while being guided by the guide member in a state in which the distance from the base point at an arbitrary position between the lenses of the two opposing imaging devices to each lens is always equal to each other. A moving device to be moved to,
A supply device for supplying logs to two holding members in a state where there is a mouth end at a position at an equal distance from the lenses of the two imaging devices;
A distance measuring device that measures in advance a first distance between the lens of one of the imaging devices and the opposite pier before supplying the log to the holding member with the supply device;
The value of the first distance measured by the distance measuring device is compared with the value of the second distance between the lens and the end required for forming an image on the image sensor of the imaging device. An operation signal is sent to the moving device so that the two image pickup devices approach or separate from the opposite piers until the two distance values are obtained, and the movement is performed when the first distance value becomes equal to the second distance value. A controller that issues a stop signal to each mobile device so as to stop
An apparatus for detecting a mark position of an original tree mouth comprising image processing calculation means for receiving information from the image pickup device and calculating the position of the mark on the image pickup device after the image pickup device has stopped.

Two holding members arranged at intervals in the fiber direction of the raw wood to hold the raw wood with a mark on the end, waiting in place,
Each mounting et is the two mount arranged at a distance in a state sandwiching the two holding members in the fiber direction of the wood, imaging View daylight image of butt incident via the lens and the lens Two image pickup devices that are provided at positions where the elements are fixed and connect an image on the image pickup element when the distance between the lens and the mouth is a second distance ;
A guide member for guiding each mounting base in a direction approaching and separating from the opposing holding member;
An optical axis changing device provided on each of the mounts in order to make the optical axis of the lens parallel to the guide direction of the guide member;
The mounting bases are moved toward and away from each other while being guided by the guide member in a state in which the distance from the base point at an arbitrary position between the lenses of the two opposing imaging devices to each lens is always equal to each other. A moving device to be moved to,
A supply device for supplying logs to the two holding members;
When the log is supplied to the two holding members on the supply device, the log of the log is moved back and forth at equal distances toward the log ends of the log so that the log of the log is approximately the same distance from the base point in the fiber direction. Two abutting members that move the wood logs;
A distance measuring device that measures a first distance from the base point to one end of the log when the log is supplied to two holding members according to the amount of movement of the contact member;
The value of the first distance measured by the distance measuring device is compared with the value of the second distance between the lens and the end required for forming an image on the image sensor of the imaging device. An operation signal is sent to the moving device so that the two image pickup devices approach or separate from the opposite piers until the two distance values are obtained, and the movement is performed when the first distance value becomes equal to the second distance value. A controller that issues a stop signal to each mobile device so as to stop
An apparatus for detecting a mark position of an original tree mouth comprising image processing calculation means for receiving information from the image pickup device and calculating the position of the mark on the image pickup device after the image pickup device has stopped.