Detection system and operating mechanism

Abstract

To provide a long member capable of applying to an operating mechanism so as to prevent the effects of elongation of the long member on the moving parts of the operating mechanism.SOLUTION: A long member in an embodiment is a long member used for a detection system (3) that detects a displacement as the amount of long member that is sent out or retracted in an operating mechanism in which a moving part operates depending on pushing or pulling of the long member. Multiple reflecting parts (38) with different reflection characteristics for electromagnetic waves irradiated on the long member include a pattern part (37) on the surface of the main unit of the long member.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present disclosure relates to a long member, a detection system, and an operating mechanism. For example, it is used for a long member, a detection system, and an operating mechanism applicable to an operating mechanism in which an operating portion operates by feeding out or drawing in a long member, and detecting a displacement amount, which is the amount of feeding out or drawing in of the long member, in the operating mechanism.

Background Art

[0002] For example, Patent Document 1 discloses a mechanism that assists a trainer's walking motion by feeding out or drawing in a wire by a motor. In such an operating mechanism in which an operating portion operates by feeding out or drawing in such a wire by a motor, the displacement amount of the wire is calculated by an encoder provided in the motor.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The applicant of the present application has found the following problems. When calculating the displacement amount of a long member by an encoder provided in a motor, such as in an operating mechanism in which an operating portion operates by feeding out or drawing in a general long member such as a wire by a motor, the influence of elongation of the long member is not considered, resulting in an error in the operation of the operating portion.

[0005] In view of such problems, the present disclosure has been made to realize a long member and a detection system applicable to an operating mechanism, and an operating mechanism using the detection system, so as to suppress the influence of elongation of the long member on the operation of the operating portion in the operating mechanism.

Means for Solving the Problems

[0006] An elongated member according to one aspect of the present disclosure is an elongated member used in a detection system for detecting a displacement amount which is the amount of the elongated member being fed out or retracted in an operating mechanism in which an operating part operates by the feeding out or retraction of the elongated member, The long member comprises a patterned portion on the surface of the main body of the long member, which has multiple reflective portions with different reflection characteristics to electromagnetic waves irradiated onto the long member.

[0007] A detection system according to one aspect of the present disclosure is a detection system for detecting a displacement amount which is the amount of a long member that is fed out or retracted in an operating mechanism in which an operating part operates by the feeding out or retraction of a long member, The long member mentioned above, An irradiation unit that irradiates electromagnetic waves onto the patterned portion of the long member, A sensor unit for detecting the reflected waves of the electromagnetic waves irradiated onto the patterned portion of the long member, A calculation unit calculates the displacement amount of the long member based on the difference in reflection characteristics of each reflection part of the patterned part of the long member detected by the sensor unit, It is equipped with.

[0008] In the detection system described above, it is preferable that the irradiation unit irradiates the elongated member with visible light.

[0009] In the detection system described above, it is preferable that the sensor unit detects reflected waves in different wavelength ranges.

[0010] In the detection system described above, the sensor unit is A first sensor that detects reflected waves in the red wavelength range, A second sensor that detects reflected waves in the blue wavelength range, A third sensor that detects reflected waves in the green wavelength range, It is preferable to include the following.

[0011] In the detection system described above, it is preferable that the calculation unit acquires the detection result of the sensor unit for each of the reflecting units and calculates the displacement amount of the long member according to the combination of wavelength ranges of the detected reflected waves.

[0012] In the detection system described above, it is preferable that the patterned portion is arranged repeatedly as a set of multiple reflective portions of different colors.

[0013] In the detection system described above, the different colors are preferably colors that can be formed by a combination of red, blue, and green, and black.

[0014] In the detection system described above, it is preferable that the long member is formed from a wire made of a flexible material, or from a wire that has been twisted together.

[0015] A detection system relating to one aspect of this disclosure is: The above-mentioned detection system, An operating unit that operates based on the displacement of the aforementioned elongated member, The fixing part to which the aforementioned operating part is fixed, A drive unit is provided in the fixed part for feeding out or retracting the long member, Equipped with, The irradiation unit and sensor unit of the detection system are positioned on the side of the connection between the elongated member and the operating unit relative to the drive unit. [Effects of the Invention]

[0016] According to this disclosure, it is possible to realize a long member and a detection system applicable to an operating mechanism, and an operating mechanism using the detection system, so as to suppress the effect of elongation of the long member on the operation of the operating part in the operating mechanism. [Brief explanation of the drawing]

[0017] [Figure 1] This is a schematic diagram showing the configuration of the operating mechanism of the embodiment. [Figure 2]It is a block diagram showing the configuration of the control system of the operation mechanism of the embodiment. [Figure 3] It is a diagram for explaining the detection timing of the sensor with respect to the reflection part of the wire pattern part in the detection system used in the operation mechanism of the embodiment. [Figure 4] It is a diagram for explaining the arrangement of the light source and the sensor in the detection system used in the operation mechanism of the embodiment. [Figure 5] It is a flowchart showing the flow of calculating the displacement amount of the wire in the detection system used in the operation mechanism of the embodiment. [Figure 6] It is a flowchart showing the flow of obtaining the Gray code in the detection system used in the operation mechanism of the embodiment.

Mode for Carrying Out the Invention

[0018] Hereinafter, specific embodiments to which the present disclosure is applied will be described in detail with reference to the drawings. However, the present disclosure is not limited to the following embodiments. Also, the following description and drawings are simplified as appropriate.

[0019] First, the configuration of the operation mechanism of the present embodiment will be described. FIG. 1 is a schematic diagram showing the configuration of the operation mechanism of the present embodiment. FIG. 2 is a block diagram showing the configuration of the control system of the operation mechanism of the present embodiment. The operation mechanism 1 of the present embodiment includes, for example, a robot arm 2 and a detection system 3 as shown in FIGS. 1 and 2.

[0020] The robot arm 2 has, for example, a configuration in which a hand (operating part) 22 is connected to the tip of an arm main body 21 and the base of the arm main body 21 is connected to a fixing part 23 as shown in FIG. 1. Then, the robot arm 2 transmits the rotational driving force of a motor (driving part) 24 fixed to the fixing part 23 to a pulley 25, and the hand 22 operates by feeding out or retracting a wire 26 wound around the pulley 25.

[0021] In this case, the motor 24 is controlled by the control device 27 based on the detection result of the detection system 3, as shown in Figure 2. However, although the operating mechanism 1 in this embodiment is equipped with a robot arm 2, any mechanism in which the operating part operates by sending out or retracting a long member such as a wire is acceptable.

[0022] Figure 3 is a diagram illustrating the detection timing of the sensor for the reflective portion of the wire pattern in the detection system used in the operating mechanism of this embodiment. Figure 4 is a diagram illustrating the arrangement of the light source and sensor in the detection system used in the operating mechanism of this embodiment. Note that in Figure 3, the coloring of the reflective portion is omitted.

[0023] In addition to the wire 26 described above, the detection system 3 includes an irradiation unit 31, a sensor unit 32, a control unit 33, a calculation unit 34, and a storage unit 35, as shown in Figures 1 and 2. The wire 26 includes, for example, a main body 36 and a patterned part 37, as shown in Figure 3. The main body 36 is a wire made of a flexible material such as metal or an elastic body, or a long member formed by twisting wires together.

[0024] The patterned portion 37 is applied to the wire 26 such that, for example, multiple reflective portions 38 with different reflection characteristics to electromagnetic waves irradiated onto the wire 26 appear on the surface of the main body portion 36 of the wire 26 in a regular repeating pattern. The patterned portion 37 may be arranged in multiple sets of multiple reflective portions 38 of different colors, with each set of multiple reflective portions 38 arranged in an equal arrangement and repeated.

[0025] For example, the patterned section 37 includes multiple reflective sections 38, as shown in Figure 3: a first reflective section 38a in black, a second reflective section 38b in red, a third reflective section 38c in purple, a fourth reflective section 38d in blue, a fifth reflective section 38e in light blue, a sixth reflective section 38f in white, a seventh reflective section 38g in yellow, and an eighth reflective section 38h in green.

[0026] In other words, the first to eighth reflective parts 38a, 38b, 38c, 38d, 38e, 38f, 38g, and 38h are colors that can be formed by a combination of red, blue, and green, or by a combination of red, blue, and green (for example, black).

[0027] These first to eighth reflective sections 38a, 38b, 38c, 38d, 38e, 38f, 38g, and 38h are arranged in sets, with multiple sets repeating in the axial direction of the wire 26. As a result, the first to eighth reflective sections 38a, 38b, 38c, 38d, 38e, 38f, 38g, and 38h appear on the surface of the main body 36 of the wire 26 in a regular repeating pattern.

[0028] The first to eighth reflective sections 38a, 38b, 38c, 38d, 38e, 38f, 38g, and 38h are each approximately equal in length in the axial direction of the main body 36 of the wire 26, for example, preferably about 0.1 to 1 mm. However, the number and length of the reflective sections 38 can be appropriately changed depending on the wavelength range of electromagnetic waves that the irradiation section 31 can emit and the wavelength range that the sensor section 32 can detect.

[0029] Such a patterned portion 37 can be formed, for example, by a paint applied to the surface of the main body portion 36 of the wire 26. However, the patterned portion 37 only needs to be applied to the wire 26 so that it is visible on the surface of the main body portion 36 of the wire 26, and may be formed, for example, by a paint contained in the material of the wire 26. In other words, the patterned portion 37 only needs to be fixed to the main body portion 36 of the wire 26.

[0030] The patterned portion 37 may be arranged, for example, over the entire axial area of ​​the main body portion 36 of the wire 26. Alternatively, the patterned portion 37 may be arranged over the entire circumferential area of ​​the main body portion 36 of the wire 26. However, it is sufficient that the patterned portion 37 is arranged on the surface of the main body portion 36 of the wire 26 so that the irradiation unit 31 can irradiate the patterned portion 37 with electromagnetic waves when the wire 26 is fed out or retracted, and so that the sensor unit 32 can detect the reflected waves.

[0031] The irradiation unit 31 irradiates the patterned portion 37 of the wire 26 with electromagnetic waves. The irradiation unit 31 irradiates the patterned portion 37 of the wire 26 with visible light, for example. At this time, the irradiation unit 31 may be controlled to irradiate each reflective portion 38 of the patterned portion 37 of the wire 26 with light at least once. However, the irradiation unit 31 may be controlled to continuously irradiate the patterned portion 37 of the wire 26 with light.

[0032] The irradiation unit 31 includes, for example, a first light source 31a, a second light source 31b, and a third light source 31c, as shown in Figures 2 and 4. The first light source 31a, the second light source 31b, and the third light source 31c are equipped with, for example, laser diodes or LEDs (Light Emitting Diodes) capable of emitting visible light, and are arranged at approximately equal intervals around the circumferential direction of the wire 26, as shown in Figure 4. This allows the irradiation unit 31 to irradiate the entire circumference of the main body 36 of the wire 26 with light.

[0033] Furthermore, the first light source 31a, the second light source 31b, and the third light source 31c are preferably positioned near the connection point between the hand 22 and the wire 26 of the robot arm 2, that is, on the side of the motor 24 where the hand 22 and the wire 26 are connected, as shown in Figure 1, and are fixed to the arm body 21.

[0034] The sensor unit 32 detects reflected waves in different wavelength ranges. The sensor unit 32 may include, for example, a first sensor 32a that detects reflected light in the red wavelength range, a second sensor 32b that detects reflected light in the blue wavelength range, and a third sensor 32c that detects reflected light in the green wavelength range, as shown in Figures 2 and 4.

[0035] These first sensor 32a, second sensor 32b, and third sensor 32c are equipped with, for example, light-receiving elements, and are preferably controlled so that data from the light-receiving element is read for each reflective portion 38 of the patterned portion 37 of the wire 26. As shown in Figure 4, the first sensor 32a, second sensor 32b, and third sensor 32c are arranged at approximately equal intervals in the circumferential direction of the main body portion 36 of the wire 26.

[0036] In this case, as shown in Figure 4, the first light source 31a and the first sensor 32a, the second light source 31b and the second sensor 32b, and the third light source 31c and the third sensor 32c are preferably arranged adjacent to each other in the circumferential direction of the main body 36 of the wire 26.

[0037] As a result, the first sensor 32a can reliably detect the reflected light emitted by the first light source 31a, the second sensor 32b can reliably detect the reflected light emitted by the second light source 31b, and the third sensor 32c can reliably detect the reflected light emitted by the third light source 31c.

[0038] Furthermore, the first sensor 32a, the second sensor 32b, and the third sensor 32c are preferably positioned near the connection point between the hand 22 and the wire 26 of the robot arm 2, as shown in Figure 1, that is, on the side of the motor 24 where the hand 22 and the wire 26 are connected, and are fixed to the arm body 21.

[0039] The control unit 33 controls the timing of when the first light source 31a, the second light source 31b, and the third light source 31c emit light, and the timing of when the control unit reads the data from the light-receiving elements of the first sensor 32a, the second sensor 32b, and the third sensor 32c.

[0040] The calculation unit 34 calculates the displacement of the wire 26 based on the detection results of the sensor unit 32, as will be described in detail later. In other words, the calculation unit 34 may, for example, acquire data from the light-receiving elements of the first sensor 32a, the second sensor 32b, and the third sensor 32c, which are read out for each reflective portion 38 of the pattern portion 37 of the wire 26, and calculate the displacement of the wire 26 according to the combination of wavelength ranges of the reflected light detected in each data.

[0041] The memory unit 35 stores the following: the light-receiving element data of the first sensor 32a, second sensor 32b, and third sensor 32c read out for each reflective section 38 of the patterned section 37 of the wire 26; the position data of the reflective sections 38 that were irradiated by the first light source 31a, second light source 31b, and third light source 31c within the first to eighth reflective sections 38a, 38b, 38c, 38d, 38e, 38f, 38g, and 38h calculated in the previous operation; the multi-turn count variable data from the previous operation; the absolute position data of the reflective section 38 within the wire 26 calculated in the current operation; and the original position data of the wire 26, which has been set in advance.

[0042] Next, the detection timing for the detection of light in their respective wavelength ranges by the first sensor 32a, the second sensor 32b, and the third sensor 32c in the detection system 3 used in the operating mechanism 1 of this embodiment, with respect to the first to eighth reflective portions 38a, 38b, 38c, 38d, 38e, 38f, 38g, and 38h of the patterned portion 37 of the wire 26, will be explained.

[0043] When the first light source 31a, the second light source 31b, and the third light source 31c irradiate the first reflector 38a with light, the first reflector 38a is black and does not reflect light in the red wavelength range, blue wavelength range, or green wavelength range. Therefore, as shown in Figure 3, the first sensor 32a, the second sensor 32b, and the third sensor 32c do not detect the reflected light.

[0044] When the first light source 31a, the second light source 31b, and the third light source 31c irradiate the second reflector 38b with light, the second reflector 38b is red and reflects light in the red wavelength range, but does not reflect light in the blue wavelength range or the green wavelength range. Therefore, as shown in Figure 3, the first sensor 32a detects the reflected light, while the second sensor 32b and the third sensor 32c do not detect the reflected light.

[0045] When the first light source 31a, the second light source 31b, and the third light source 31c irradiate the third reflector 38c with light, the third reflector 38c is purple and reflects light in the red wavelength range and the blue wavelength range, but does not reflect light in the green wavelength range. Therefore, as shown in Figure 3, the first sensor 32a and the second sensor 32b detect the reflected light, while the third sensor 32c does not detect the reflected light.

[0046] When the first light source 31a, the second light source 31b, and the third light source 31c irradiate the fourth reflector 38d with light, the fourth reflector 38d is blue and reflects light in the blue wavelength range, but does not reflect light in the red wavelength range or the green wavelength range. Therefore, as shown in Figure 3, the second sensor 32b detects the reflected light, while the first sensor 32a and the third sensor 32c do not detect the reflected light.

[0047] When the first light source 31a, the second light source 31b, and the third light source 31c irradiate the fifth reflector 38e with light, the fifth reflector 38e is light blue and reflects light in the blue wavelength range and the green wavelength range, but does not reflect light in the red wavelength range. Therefore, as shown in Figure 3, the second sensor 32b and the third sensor 32c detect the reflected light, while the first sensor 32a does not detect the reflected light.

[0048] When the first light source 31a, the second light source 31b, and the third light source 31c irradiate the sixth reflector 38f with light, the sixth reflector 38f is white and reflects light in the red wavelength range, blue wavelength range, and green wavelength range. As shown in Figure 3, the first sensor 32a, the second sensor 32b, and the third sensor 32c detect the reflected light.

[0049] When the first light source 31a, the second light source 31b, and the third light source 31c irradiate the seventh reflector 38g with light, the seventh reflector 38g is yellow and reflects light in the red wavelength range and the green wavelength range, but does not reflect light in the blue wavelength range. Therefore, as shown in Figure 3, the first sensor 32a and the third sensor 32c detect the reflected light, while the second sensor 32b does not detect the reflected light.

[0050] When the first light source 31a, the second light source 31b, and the third light source 31c irradiate the eighth reflector 38h with light, the eighth reflector 38h is green and reflects light in the green wavelength range, but does not reflect light in the red wavelength range or the blue wavelength range. Therefore, as shown in Figure 3, the third sensor 32c detects the reflected light, while the first sensor 32a and the second sensor 32b do not detect the reflected light.

[0051] Next, we will explain the process for calculating the displacement of the wire 26 in the detection system 3 used in the operating mechanism 1 of this embodiment. Figure 5 is a flowchart showing the process for calculating the displacement of the wire in the detection system used in the operating mechanism of this embodiment.

[0052] First, the calculation unit 34 acquires the Gray code (S1). Figure 6 is a flowchart showing the flow of acquiring the Gray code in the detection system used in the operating mechanism of this embodiment.

[0053] In detail, first, the control unit 33 controls the first light source 31a to irradiate light onto the reflective portion 38 of the patterned portion 37 of the wire 26 (S11). Next, the control unit 33 controls the first sensor 32a to read the data from the light-receiving element of the first sensor 32a (S12). Then, the control unit 33 controls the first light source 31a to turn it off (S13).

[0054] Next, the control unit 33 controls the second light source 31b to illuminate the same reflective portion 38 on the pattern portion 37 of the wire 26 that was illuminated by the first light source 31a (S14). Next, the control unit 33 controls the second sensor 32b to read the data from the light-receiving element of the second sensor 32b (S15). Then, the control unit 33 controls the second light source 31b to turn it off (S16).

[0055] Next, the control unit 33 controls the third light source 31c to illuminate the same reflective portion 38 in the patterned portion 37 of the wire 26 that was illuminated by the first light source 31a and the second light source 31b (S17). Next, the control unit 33 controls the third sensor 32c to read the data from the light-receiving element of the third sensor 32c (S18). Then, the control unit 33 controls the third light source 31c to turn it off (S19).

[0056] In this case, as described above, a Gray code can be generated according to the combination of detection timings in which the first sensor 32a, the second sensor 32b, and the third sensor 32c detect light in their respective wavelength ranges, that is, according to the combination of wavelength ranges of the detected reflected light.

[0057] For example, in the first reflector 38a, the first sensor 32a, the second sensor 32b, and the third sensor 32c do not detect reflected light, so a Gray code of 000 can be obtained. In the second reflector 38b, the first sensor 32a detects reflected light, while the second sensor 32b and the third sensor 32c do not detect reflected light, so a Gray code of 100 can be obtained.

[0058] For example, in the third reflector 38c, the first sensor 32a and the second sensor 32b detect reflected light, while the third sensor 32c does not detect reflected light, so a Gray code of 110 can be obtained.

[0059] For example, in the fourth reflector 38d, the second sensor 32b detects reflected light, while the first sensor 32a and the third sensor 32c do not detect reflected light, so the Gray code 010 can be obtained.

[0060] For example, in the fifth reflector 38e, the second sensor 32b and the third sensor 32c detect reflected light, while the first sensor 32a does not, so the Gray code 011 can be obtained. For example, in the sixth reflector 38f, the first sensor 32a, the second sensor 32b, and the third sensor 32c detect reflected light, so the Gray code 111 can be obtained.

[0061] For example, in the seventh reflective section 38g, the first sensor 32a and the third sensor 32c detect reflected light, while the second sensor 32b does not detect reflected light, so the Gray code 101 can be obtained.

[0062] For example, in the eighth reflector 38h, the third sensor 32c detects reflected light, while the first sensor 32a and the second sensor 32b do not detect reflected light, so the Gray code 001 can be obtained. In this case, it is preferable that the reflectors 38 are arranged so that the change in the Gray code between adjacent reflectors 38 does not change by two orders of magnitude simultaneously.

[0063] Next, the calculation unit 34 converts the acquired Gray code into binary code and calculates the position of the reflective section 38 within the first to eighth reflective sections 38a, 38b, 38c, 38d, 38e, 38f, 38g, and 38h that was illuminated by the first light source 31a, the second light source 31b, and the third light source 31c (hereinafter sometimes simply referred to as the position of the reflective section 38) (S2).

[0064] Next, the calculation unit 34 determines whether the position of the reflecting part 38 calculated previously was the first reflecting part 38a, and whether the position of the reflecting part 38 calculated this time is the eighth reflecting part 38h (S3).

[0065] If the position of the reflecting part 38 calculated last time was the first reflecting part 38a, and the position of the reflecting part 38 calculated this time is the eighth reflecting part 38h (YES in S3), the calculation unit 34 decreases the multi-turn count variable by 1 (S4). In other words, if the multi-turn count variable last time was N (where N is an integer greater than or equal to 1), the calculation unit 34 sets the multi-turn count variable this time to N-1.

[0066] On the other hand, if the position of the reflective portion 38 calculated last time was the first reflective portion 38a, and the position of the reflective portion 38 calculated this time is not the eighth reflective portion 38h (NO in S3), the calculation unit 34 determines whether the position of the reflective portion 38 calculated last time was the eighth reflective portion 38h, and the position of the reflective portion 38 calculated this time is the first reflective portion 38a (S5).

[0067] If the position of the reflecting part 38 calculated last time was the eighth reflecting part 38h, and the position of the reflecting part 38 calculated this time is the first reflecting part 38a (YES in S5), the calculation unit 34 increments the multi-turn count variable by 1 (S6). In other words, if the multi-turn count variable last time was N, the calculation unit 34 sets the multi-turn count variable this time to N+1.

[0068] On the other hand, if the position of the reflecting part 38 calculated last time was the eighth reflecting part 38h, and the position of the reflecting part 38 calculated this time is not the first reflecting part 38a (NO in S5), the calculation unit 34 calculates the absolute position of the reflecting part 38 within the wire 26 relative to the preset original position of the wire 26 (for example, the position of the reflecting part 38 where the irradiation unit 31 irradiates light when the hand 22 is in a predetermined state), that is, the displacement amount of the wire 26 relative to its original position, based on the calculated position data of the reflecting part 38 and the multi-turn count variable data from the previous calculation (S7).

[0069] Alternatively, after step S4 or step S6, the calculation unit 34 calculates the displacement of the wire 26 relative to its original position based on the calculated position data of the reflector 38 and the current multi-turn count variable data calculated in step S4 or step S6 (S7).

[0070] Subsequently, the calculation unit 34 stores the position data and multi-turn count variable data of the reflecting part 38, which were used to calculate the displacement of the wire 26 relative to its original position, in the storage unit 35 as the previously calculated position data and multi-turn count variable data of the reflecting part 38.

[0071] In this embodiment, the wire 26, detection system 3, and operating mechanism 1 are configured such that a patterned portion 37 is applied to the wire 26, which is used to operate the hand 22, the operating part of the operating mechanism 1, and the amount of displacement of the wire 26 is detected based on the reflection of electromagnetic waves irradiated onto the patterned portion 37. Unlike a typical encoder, the irradiation portion 31 and the sensor portion 32 can be positioned on the side of the motor 24 where the hand 22 and the wire 26 are connected.

[0072] Therefore, the wire 26 and detection system 3 can be applied to the operating mechanism 1 in such a way that the effect of wire 26 elongation on the operation of the hand 22 can be suppressed by detecting the displacement of the wire 26 at a point where the effect of wire 26 elongation on the operation of the hand 22 is less than that of a typical encoder and operating unit.

[0073] This disclosure is not limited to the embodiments described above, and may be modified as appropriate without departing from the spirit of the invention. For example, the irradiation unit 31 in the above embodiment includes a first light source 31a, a second light source 31b, and a third light source 31c, but the number of light sources can be changed as appropriate, for example, there may be only one light source. For example, although the irradiation unit 31 in the above embodiment is configured to emit visible light, it is also possible to simultaneously emit light in the red wavelength range from the first light source 31a, light in the blue wavelength range from the second light source 31b, and light in the green wavelength range from the third light source 31c. For example, the sensor unit 32 in the above embodiment includes a first sensor 32a, a second sensor 32b, and a third sensor 32c, but the number of sensors can be changed as appropriate. For example, it may include multiple or one color sensor capable of detecting red, blue, and green light. For example, in the above embodiment, the displacement of the wire 26 is detected using light in the red wavelength range, light in the blue wavelength range, and light in the green wavelength range, but the displacement of the wire 26 can be detected using electromagnetic waves in multiple different wavelength ranges. For example, in the above embodiment, the first to eighth reflective parts 38a, 38b, 38c, 38d, 38e, 38f, 38g, and 38h are arranged in a regular repeating pattern. However, the shape, length, pattern, etc., of the multiple reflective parts may be arranged irregularly, as long as the repeatability of the reflective pattern is not lost. Furthermore, all reflective parts may have different reflective properties. In these cases, for example, it is sufficient to know in advance what kind of reflection will be detected at each position, and the position of the reflective part can be calculated by comparing the detection result with stored data such as a template of the reflection pattern or the ratio of reflection wavelengths at each position (for example, by calculating a correlation value). [Explanation of symbols]

[0074] 1 Operating mechanism 2 Robot Arms 21 Arm body 22 Hand 23 Fixed part 24 motors 25 Pulley 26 wires 27 Control device 3. Detection System 31 Irradiation unit, 31a First light source, 31b Second light source, 31c Third light source 32 Sensor section, 32a First sensor, 32b Second sensor, 32c Third sensor 33 Control Unit 34 Calculation Unit 35 Storage section 36 Main body 37 Pattern section 38 Reflectors, 38a First reflector, 38b Second reflector, 38c Third reflector, 38d Fourth reflector, 38e Fifth reflector, 38f Sixth reflector, 38g Seventh reflector, 38h Eighth reflector

Claims

1. A detection system for detecting the displacement amount, which is the amount of a long member being fed out or retracted, in an operating mechanism in which an operating part operates by the feeding out or retraction of a long member, The elongated member has a patterned portion on the surface of the main body of the elongated member, wherein multiple reflective portions with different reflection characteristics to electromagnetic waves irradiated onto the elongated member are present. An irradiation unit that irradiates the patterned portion of the elongated member with the aforementioned electromagnetic waves, A sensor unit for detecting the reflected waves of the electromagnetic waves irradiated onto the patterned portion of the long member, A calculation unit calculates the displacement amount of the long member based on the difference in reflection characteristics of each reflection part of the patterned part of the long member detected by the sensor unit, Equipped with, The aforementioned sensor unit is a detection system that detects reflected waves in different wavelength ranges.

2. The detection system according to claim 1, wherein the irradiation unit irradiates the elongated member with visible light.

3. The aforementioned sensor unit is A first sensor that detects reflected waves in the red wavelength range, A second sensor that detects reflected waves in the blue wavelength range, A third sensor that detects reflected waves in the green wavelength range, The detection system according to claim 1 or 2, comprising:

4. The detection system according to claim 1 or 2, wherein the calculation unit acquires the detection result of the sensor unit for each of the reflection units and calculates the amount of displacement of the long member according to the combination of wavelength ranges of the detected reflected waves.

5. The detection system according to claim 1 or 2, wherein the patterned portion is repeatedly arranged as a set of multiple reflective portions of different colors.

6. The detection system according to claim 5, wherein the different colors are colors that can be formed by a combination of red, blue, and green, and black.

7. The detection system according to claim 1 or 2, wherein the long member is formed of a wire made of a flexible material, or is formed by twisting together the wires.

8. A detection system for detecting the displacement amount, which is the amount of a long member being fed out or retracted, in an operating mechanism in which an operating part operates by the feeding out or retraction of a long member, The elongated member has a patterned portion on the surface of the main body of the elongated member, wherein multiple reflective portions with different reflection characteristics to electromagnetic waves irradiated onto the elongated member are present. An irradiation unit that irradiates the patterned portion of the elongated member with the aforementioned electromagnetic waves, A sensor unit for detecting the reflected waves of the electromagnetic waves irradiated onto the patterned portion of the long member, A calculation unit calculates the displacement amount of the long member based on the difference in reflection characteristics of each reflection part of the patterned part of the long member detected by the sensor unit, Equipped with, The aforementioned patterned area is formed by repeatedly arranging multiple reflective areas of different colors as a set. The aforementioned different colors are those that can be formed by a combination of red, blue, and green, as well as black, in the detection system.

9. A detection system for detecting a displacement amount which is the amount of a long member being fed out or retracted in an operating mechanism in which an operating unit operates by the feeding out or retracting of a long member, comprising: a long member having a patterned portion on the surface of the main body of the long member in which a plurality of reflective portions with different reflection characteristics to electromagnetic waves irradiated onto the long member are displayed; an irradiation unit for irradiating the patterned portion of the long member with electromagnetic waves; a sensor unit for detecting the reflected waves of the electromagnetic waves irradiated onto the patterned portion of the long member; and a calculation unit for calculating the displacement amount of the long member based on the difference in reflection characteristics of each reflective portion of the patterned portion on the long member detected by the sensor unit, An operating unit that operates based on the displacement of the aforementioned elongated member, The fixing part to which the aforementioned operating part is fixed, A drive unit is provided in the fixed part for feeding out or retracting the long member, Equipped with, An operating mechanism in which the irradiation unit and sensor unit of the detection system are located on the side of the connection between the elongated member and the operating unit relative to the drive unit.

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