JP2000098019A - Device for detecting position of ultrasonic moving body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device for detecting position of ultrasonic moving body which can automatically control illuminators, fog generating devices, etc., for improving stage effects in theaters, studios, halls, places of after-wedding celebration, etc. SOLUTION: Four ultrasonic receivers T1, T2, T3, and T4 are arranged at the four corners of the ceiling of a ceremonial hall and an ultrasonic oscillator Tx is arranged among the receivers T1, T2, T3, and T4. A moving body which moves at least in the space surrounded by the receivers T1-T4 is made to carry the ultrasonic transmitter Tx and the position of the oscillator Tx is detected by calculating the position from a simple formula by using the time lags between the ultrasonic receivers adjacent to a reference receiver by using the receiver that first receives the ultrasonic pulse transmitted from the oscillator Tx among the receivers T1-T4 as the reference receiver. Even a plurality of ultrasonic oscillators Tx is used, the positions of the oscillators Tx can be detected successively by successively operating the oscillators Tx with time lags.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a system for automatically controlling a device, for example, a lighting device, a fog generating device, etc. for the purpose of enhancing its effect in a theater, a studio, a hall, a wedding reception, etc. The present invention relates to a position detecting device for an ultrasonic moving body.

[0002]

2. Description of the Related Art Generally, in a theater or a wedding reception, it is necessary to track a spotlight to the movement of a moving object in order to obtain a staging effect. Is visually checking and following the spotlight from the lighting device according to the movement of this moving object, which requires the operator to have high technical skills, so he has to rely on a specific person Did not get.

[0003]

Therefore, a moving body is provided with an ultrasonic oscillator, a number of ultrasonic receivers are arranged on a ceiling in a room, and ultrasonic pulses generated from the ultrasonic oscillator are transmitted to the ultrasonic receiver. The distance between the ultrasonic oscillator and the ultrasonic receiver is calculated from the transmission time of the ultrasonic pulse transmitted between the ultrasonic oscillator and the ultrasonic receiver near the ultrasonic oscillator, and each ultrasonic wave is calculated. A device that can detect whether the ultrasonic oscillator is located between the ultrasonic receivers in the room from the distance calculated by the receiver has been proposed, but the oscillation in the ultrasonic oscillator is controlled on the ultrasonic receiver side. If a plurality of ultrasonic oscillators are present in the same room, the oscillation time of the plurality of ultrasonic oscillators must be controlled, and the device becomes complicated. Was.

[0004]

SUMMARY OF THE INVENTION The present invention comprises at least four ultrasonic receivers, each located at a corner of a substantially rectangular room, and signal processing for processing pulse signals from the four ultrasonic receivers. And an ultrasonic oscillator moving between the four ultrasonic receivers, wherein ultrasonic pulses from the ultrasonic oscillator are first transmitted to any one of the four ultrasonic receivers. With reference to the received ultrasonic pulse, a time difference between the ultrasonic pulse received by the two adjacent ultrasonic receivers of the one ultrasonic receiver first received is detected, and from the respective time differences, By obtaining respective distance coordinates in the direction of the adjacent ultrasonic receiver from one ultrasonic receiver that first receives the ultrasonic pulse, the four ultrasonic waves of the one ultrasonic oscillator are obtained. Receiver position in space And a plurality of the ultrasonic oscillators that move in the at least four ultrasonic receivers, and a photodetector is attached to any one of the ultrasonic oscillators, A luminous body is connected to the signal processing device, and an ultrasonic pulse is emitted from the ultrasonic oscillator equipped with the photodetector by pulse emission from the luminous body, and the ultrasonic pulse is emitted by the other ultrasonic wave. The ultrasonic wave is received by an oscillator, and each of the other ultrasonic oscillators is sequentially provided with a time difference to generate an ultrasonic pulse. Further, a plurality of the ultrasonic oscillators moving in the at least four ultrasonic receivers are provided. And a radio wave receiving device is attached to any one of the ultrasonic oscillators, a radio wave generating device is connected to the signal processing device, and the radio wave receiving device is pulsed from the radio wave generating device. It emits an ultrasonic pulse from the ultrasonic generator equipped with a receives the firing of the ultrasound pulse by the other ultrasonic oscillator, and generates an ultrasonic pulse is provided the received sequential time difference.

[0005]

DETAILED DESCRIPTION OF THE INVENTION According to the present invention, there is provided an ultrasonic oscillator which can be moved between at least four ultrasonic receivers respectively arranged at least in four corners of a rectangular room, from which an ultrasonic oscillator is initially provided. From the time difference between the ultrasonic receiver that received the ultrasonic pulse and the two adjacent ultrasonic receivers, the coordinates between the two adjacent ultrasonic receivers from the ultrasonic receiver that first received the ultrasonic pulse By calculating the position of the ultrasonic oscillator with a signal processing device, there is no need for the ultrasonic receiver to know the time to generate an ultrasonic pulse from the ultrasonic oscillator, and it is detected by the mere adjacent ultrasonic receiver. The position of the ultrasonic oscillator can be detected only by the time difference between the ultrasonic pulses.

[0006]

FIG. 1 is a diagram for explaining the principle of the present invention. For example, four ultrasonic receivers T1, T2, T3, and T4 are arranged at the corners of the ceiling of a ceremony hall FL. An ultrasonic oscillator T is provided between the ultrasonic receivers T1, T2, T3, and T4.
x is located, and the ultrasonic receivers T1 and T4
The distance between the sides a and the distance between the sides of the ultrasonic receivers T1 and T2 is assumed to be b, and a perpendicular is drawn from the ultrasonic oscillator Tx to the side between the ultrasonic receivers T1 and T4, and the position of the perpendicular to the side is drawn. Is defined as A, a perpendicular is drawn from the ultrasonic oscillator Tx to the sides of the ultrasonic receivers T1 and T2, and the position of the perpendicular to the side is defined as B. First, the ultrasonic pulse from the ultrasonic oscillator Tx is Assuming that the ultrasonic wave has reached the ultrasonic receiver T1, the ultrasonic pulse generated from the ultrasonic oscillator Tx
1. The time difference between the times D1 and D4 to reach T4 is D4 = D
1 = t1, the time difference between the times D1 and D2 when the ultrasonic pulse generated from the ultrasonic oscillator Tx reaches the ultrasonic receivers T1 and T2 is D2-D1 = t2, and the ultrasonic pulse generated from the ultrasonic oscillator Tx is The time difference between the times D2 and D3 arriving at the sound wave receivers T2 and T3 is D3-D2 = t3, and the sound speed is S
Then, the following equations (1), (2) and (3) are established.

[0007] X and y are obtained from Expressions (1) and (2), and the position of the ultrasonic oscillator Tx in the room can be detected from the values of x and y.

FIG. 2 is a block diagram of an ultrasonic moving object position detecting device according to an embodiment of the present invention. Four ultrasonic receivers T1, T2, T3, T4 are connected to a signal processing device CP. A drive device DD is connected to the processing device CP, and a memory M is connected to the signal processing device CP. FIG. 3 is a block diagram of the ultrasonic oscillator Tx. The ultrasonic oscillator Tx includes an ultrasonic oscillator Tm and an oscillator. The OS is connected to the processing device CPU.

FIG. 4 is a time chart of the signal from the ultrasonic oscillator of the ultrasonic moving body position detecting device of FIG. 2 and the ultrasonic pulse received by the ultrasonic receiver, and FIG. 5 is the ultrasonic moving body position detecting of FIG. In the flowchart describing the operation of the device, first, when the device starts, the signal processing device CP determines whether any of the ultrasonic receivers T1, T2, T3, and T4 receives the pulse signal from the ultrasonic oscillator first. Monitoring (step 1), as shown in FIG. 4, when an ultrasonic pulse is generated from the ultrasonic oscillator, the ultrasonic receiver T1 first receives the ultrasonic pulse (step 2).
When a reception signal is generated from the ultrasonic receiver T1, next, the signal processing device CP outputs the next ultrasonic pulse to the ultrasonic receiver T1.
2, T3 or T4 is monitored (step 3). In FIG. 4, the ultrasonic receiver T2 next receives an ultrasonic pulse (step 4), and the signal processing device CP The time difference t1 between the sound wave receivers T1 and T4 is detected and temporarily stored in a memory M (step 5), and then any of the ultrasonic wave receivers T2 and T3 receives the ultrasonic pulse from the ultrasonic oscillator Tx. It is determined whether or not to perform (step 6). When the ultrasonic pulse is received by the ultrasonic receiver T2 (step 7), the signal processing device CP
1. A time difference t2 between T2 is detected and temporarily stored in the memory M (step 8).

The time difference t stored in the memory M
1, t2 and the ultrasonic receivers T1, T
The values of x and y are calculated from the formulas (1) and (2) from the distance b of T2, the distance a of T1 and T4, and the propagation speed S of the ultrasonic wave (about 340 m / s) (step 9). Sound wave receiver T1
From the coordinate x in the ultrasonic receiver T4 and the ultrasonic receiver T
1 to detect the position of the ultrasonic oscillator Tx from the coordinate y in the ultrasonic receiver T2 and further obtain the position of the moving ultrasonic oscillator Tx, return to step 1 and perform the operations from step 1 to step 9 The position of the moving ultrasonic oscillator Tx is continuously and repeatedly detected, and if there is no next operation in step 9, the process is terminated.

The present invention thus provides an ultrasonic oscillator Tx
Ultrasonic receiver T1 which first received the ultrasonic pulse from
By detecting the reception time differences t1 and t2 of the ultrasonic pulses of the second and third ultrasonic receivers T2 and T4, the time differences t1 and t2 and the side T1 previously stored in the memory M are detected. , T2 and the sides T1, t
Since the distances x and y from the ultrasonic receiver T1 can be calculated from the distance a of No. 4 and the propagation speed S of the ultrasonic wave (about 340 m / s), the signals of the distances x and y are output to the driving device DD in real time. Can be.

In the above embodiment, the case where T1 is received first is described, but the ultrasonic receiver T2, T3 or T
In the same manner, the ultrasonic oscillator T
The example in which the position of x can be detected and four ultrasonic receivers are provided has been described. However, a number of ultrasonic receivers can be provided with four ultrasonic receivers as one unit. Possible, and four ultrasonic receivers T1, T2, T3, T
The calculation becomes simpler by using all the reception time differences t1, t2, and t3 in FIG.

FIG. 6 is a block diagram of an ultrasonic moving object position detecting apparatus according to another embodiment of the present invention, wherein T1, T2, T3, T4.
Is an ultrasonic receiver, CP is a signal processing device, DD is a driving device, and M is a memory. These components are the same as those in the above-described embodiment, and thus description thereof is omitted. The light emitting element Em is connected to the CP.

FIG. 7 is a block diagram of an oscillator in an ultrasonic moving object position detecting device according to another embodiment of the present invention. Tx denotes an ultrasonic oscillator, and CPU denotes a signal processing device. Although the description is omitted because they are the same, in this embodiment, the light receiving element Re is connected to the signal processing device CPU.

In this embodiment constructed as described above, two or more ultrasonic oscillators Tx of FIG. 6 are arranged between the ultrasonic receivers T1, T2, T3 and T4. When the oscillator Tx is provided, one light pulse is generated from the light emitting element Em in FIG. 5 and when the light pulse is detected by the light receiving element Re of the first ultrasonic oscillator Tx in FIG. When an ultrasonic pulse is generated from the ultrasonic oscillator Tx and two light pulses are generated, the light receiving element Re of the second ultrasonic oscillator Tx detects this, and the ultrasonic wave is transmitted from the second ultrasonic oscillator Tx. By generating the pulse, the positions of the first and second ultrasonic oscillators Tx can be respectively detected according to the description of FIG.

In the embodiment shown in FIGS. 5 and 6, the light emitting element Em is mounted on the ultrasonic moving body position detecting device,
e has been described in each of the first and second ultrasonic oscillators Tx. However, instead of the light emitting element Em and the light receiving element Re, a radio wave generator is attached to the ultrasonic moving body position detecting device, and the radio wave receiver is received. The apparatus may be mounted on a plurality of ultrasonic oscillators, and further, any one of the ultrasonic receivers T1, T2, T3, and T4 may generate an encoded ultrasonic pulse, and the ultrasonic pulse may be generated by a plurality of ultrasonic pulses. When an ultrasonic wave is detected by one of the ultrasonic oscillators Tx, an ultrasonic pulse is generated from the ultrasonic oscillator Tx that has detected the encoded ultrasonic pulse, and the ultrasonic receiver T1,
Ultrasonic oscillator Tx that generates ultrasonic waves at T2, T3, T4
By sequentially generating ultrasonic waves from the ultrasonic oscillator Tx such that the next encoded ultrasonic pulse generates an ultrasonic pulse from the next ultrasonic oscillator Tx, a plurality of Each position of the ultrasonic oscillator Tx can be detected.

[0019]

As described above, in the position detecting apparatus for an ultrasonic moving body according to the present invention, the moving body moving in the space between at least four ultrasonic receivers has the ultrasonic oscillator. An ultrasonic pulse from an ultrasonic oscillator is first received by at least four ultrasonic receivers, and a time difference between adjacent ultrasonic receivers from the reference ultrasonic receiver is determined based on an ultrasonic receiver. A simple formula can be used to detect the position of the ultrasonic oscillator, and even if there are a plurality of ultrasonic oscillators, a plurality of ultrasonic oscillators operate sequentially with a delay in time, thereby providing a plurality of ultrasonic oscillators. There is an advantage that the position of the ultrasonic oscillator can be sequentially detected.

[Brief description of the drawings]

FIG. 1 is a diagram for explaining the principle of an ultrasonic moving object position detecting device according to an embodiment of the present invention.

FIG. 2 is a block diagram of an ultrasonic moving object position detecting device according to an embodiment of the present invention.

FIG. 3 is a block diagram of an ultrasonic oscillator of the ultrasonic moving object position detecting device of FIG. 2;

4 is a time chart of a signal from an ultrasonic oscillator of the ultrasonic moving object position detecting device of FIG. 2 and an ultrasonic pulse received by an ultrasonic receiver.

FIG. 5 is a flowchart illustrating an operation of the ultrasonic moving body position detecting device of FIG. 2;

FIG. 6 is a block diagram of an ultrasonic moving object position detecting device according to another embodiment of the present invention.

FIG. 7 is a block diagram of an ultrasonic oscillator of the ultrasonic moving object position detecting device of FIG. 6;

[Explanation of symbols]

 T1, T2, T3, T4 Ultrasonic receiver CP signal processing device Tx ultrasonic oscillator M memory DD drive device Tm ultrasonic transducer CPU signal processing device Em Light emitting element Re Light receiving element

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Yoshikazu Muramatsu 20 Oyamacho, Oiwa-cho, Toyohashi-shi, Aichi Prefecture Inside Honda Electronics Co., Ltd. (72) Inventor Masahiro Naito 50, Kamoda-cho, Toyohashi-shi, Aichi Prefecture F term in reference (reference) 3K060 AA06 CA01 CA05 CA08 CB08 CC04 CD00 EA01 5J083 AB14 AC29 AD02 AE07 AE08 AF01 AF04 CA02

Claims (3)

[Claims] At least four ultrasonic receivers respectively arranged at corners of a substantially rectangular room, a signal processing device for processing pulse signals from the four ultrasonic receivers, and the four ultrasonic waves An ultrasonic oscillator moving between receivers, wherein an ultrasonic pulse from the ultrasonic oscillator is referenced to an ultrasonic pulse first received by any one of the four ultrasonic receivers. And the first received 1
Detects the time difference between the ultrasonic pulses received by two adjacent ultrasonic receivers of the two ultrasonic receivers, from one ultrasonic receiver that first received the ultrasonic pulse from each time difference Detecting the position of the one ultrasonic oscillator in the space of the four ultrasonic receivers by obtaining respective distance coordinates in the directions of the adjacent ultrasonic receivers. Sound wave mobile object position detection device. 2. A method according to claim 1, wherein a plurality of said ultrasonic oscillators moving within said at least four ultrasonic receivers are provided, and a photodetector is mounted on one of said ultrasonic oscillators. Connect the illuminant, by pulse emission from the illuminant, emit an ultrasonic pulse from the ultrasonic oscillator equipped with the photodetector, receive the emission of the ultrasonic pulse by the other ultrasonic oscillator 2. The ultrasonic moving body position detecting device according to claim 1, wherein said other ultrasonic oscillators sequentially generate a time difference so as to generate an ultrasonic pulse. 3. A plurality of said ultrasonic oscillators moving within said at least four ultrasonic receivers are provided, and a radio wave receiving device is attached to any one of said ultrasonic oscillators, and said signal processing device is Connect a radio wave generator, by pulse radio waves from the radio wave generator, emit ultrasonic pulses from the ultrasonic oscillator equipped with the radio wave receiver,
2. The ultrasonic movement according to claim 1, wherein the emission of the ultrasonic pulse is received by the other ultrasonic oscillators, and the ultrasonic pulse is generated by sequentially providing a time difference by the ultrasonic oscillators of the respective fields. Body position detection device.