| 摘要 |
PROBLEM TO BE SOLVED: To provide a cooperation conveying method and cooperation conveying device capable of reducing equipment cost per conveyance weight and advantageous to conveyance of heavy objects. SOLUTION: A plurality of moving type crane robots 10A (leader 11 and follower 12) jointly hang a conveyed object 1 and convey it to a destination. A marker 13 is installed at a connection point between the conveyed object 1 and a wire 6 of the follower 12, and an imaging device 8 imaging the marker 13 from the upper direction is installed in the follower 12. An operation command to the destination is given to the leader 11, and positional information is generated by detecting the position of the marker 13 in coordinate systems of the follower 12 from an image of the imaging device 8. Based on the positional information, operation of the leader 11 is estimated, and based on the estimated operation of the leader 11, operation of the follower 12 is controlled. COPYRIGHT: (C)2007,JPO&INPIT
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