JP2842675B2 - Moving object distance measuring device - Google Patents
Moving object distance measuring deviceInfo
- Publication number
- JP2842675B2 JP2842675B2 JP2206465A JP20646590A JP2842675B2 JP 2842675 B2 JP2842675 B2 JP 2842675B2 JP 2206465 A JP2206465 A JP 2206465A JP 20646590 A JP20646590 A JP 20646590A JP 2842675 B2 JP2842675 B2 JP 2842675B2
- Authority
- JP
- Japan
- Prior art keywords
- moving
- indicator
- distance
- tracking
- receiving unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Description
【発明の詳細な説明】 〔産業上の利用分野〕 本発明は、例えば建築現場において資材を搬送する運
搬車等の作業車を自動走行させる際に必要となる作業車
の位置検出を、作業車から２つの基準位置までの距離に
基づいて行なう場合等に用いられる装置で、詳しくは、
基準位置等の対象位置に設けた指標具からの空間伝播波
（電磁波や音波）を受信してその指標具までの距離を測
定する距離計を作業車等の移動体に設け、前記指標具か
らの空間伝播波を受信するように指標具に向く向きに前
記距離計の受信部を向き修正する追尾手段を設けてある
移動体の測路装置に関する。DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a work vehicle for detecting a position of a work vehicle required for automatically moving a work vehicle such as a transport vehicle for transporting materials at a construction site. This is a device used when performing based on the distance from to two reference positions.
A distance meter for receiving a spatially propagating wave (electromagnetic wave or sound wave) from an indicator provided at a target position such as a reference position and measuring a distance to the indicator is provided on a moving body such as a working vehicle, and The present invention relates to a path measuring device for a mobile object, which is provided with a tracking means for correcting the direction of the receiving unit of the rangefinder so as to face the indicator so as to receive the spatially propagating wave.
この種の移動体の測距装置では、移動体の移動に伴な
って指標具と距離計との位置関係が変化する。このよう
な位置関係の変化によって、距離計における受信部の向
きが指標具に向く向きから外れると、所期の測距を行え
なくなるので、移動体の移動にかかわらず、受信部の向
きが指標具に向く向きとなるように受信部の向きを修正
する追尾が必要である。In this type of moving object distance measuring device, the positional relationship between the indicator and the distance meter changes as the moving object moves. If the direction of the receiving unit in the rangefinder deviates from the direction toward the indicator due to such a change in the positional relationship, the intended distance measurement cannot be performed. Tracking that corrects the direction of the receiving unit so that it is directed toward the device is necessary.
そのような追尾を行なう追尾手段として従来では、テ
レビカメラを、受信部と一体に向き変更する状態で、か
つ、受信部と同じ方向を向く状態に設け、テレビカメラ
による撮影画面内での指標具の映像位置から受信部の向
きと指標具との関係を判断し、映像画面の中央等の所定
の位置に指標具の映像がくるように受信部を向き変更し
て指標具に向く向きに修正する手段が知られている。Conventionally, as a tracking means for performing such tracking, a television camera is provided in a state in which the direction of the television camera is changed integrally with the reception unit and in a state in which the television camera faces the same direction as the reception unit. Judgment of the relationship between the direction of the receiving unit and the index device from the image position of the image, change the direction of the receiving unit so that the image of the index device comes to a predetermined position such as the center of the video screen, and correct the direction to the index device Means for doing so are known.
しかし、前記従来の技術によるときは、映像を処理す
るのに時間がかかり、移動体の移動速度が限定される欠
点があった。However, according to the conventional technique, it takes time to process an image, and the moving speed of the moving body is limited.
本発明の目的は、正確に、かつ、高速に追尾する点に
ある。An object of the present invention is to track accurately and at high speed.
本発明による移動体の測距装置の特徴構成は、前記追
尾手段を構成するに、前記受信部を向き変更する駆動装
置と、追尾指令信号を間欠的に出力する指令手段と、移
動体の移動方向に対する受信部の向きの傾き角を検出す
る傾き角検出手段と、移動体の移動速度を検出する速度
検出手段と、前記指令手段から追尾指令信号が出力され
る毎、前記速度検出手段の検出結果に基づいて、現時点
での移動体の位置及び移動方向に対する設定時間後の位
置及び移動方向の偏差を算出する予測手段とを設け、現
時点での傾き角検出手段の検出結果及び距離計の測定結
果並びに予測手段の算出結果に基づいて、設定時間後に
受信部を指標具に向かせるための傾き角を算出する傾き
角算出手段を設け、設定時間後に傾き角が傾き角算出手
段の算出結果となるように駆動装置を作動させる向き制
御手段を設けてある点にある。The characteristic configuration of the moving object distance measuring apparatus according to the present invention includes, in configuring the tracking means, a driving device for changing the direction of the receiving unit, a command means for intermittently outputting a tracking command signal, and a movement of the moving body. A tilt angle detecting means for detecting a tilt angle of the direction of the receiving unit with respect to the direction, a speed detecting means for detecting a moving speed of the moving body, and a detection of the speed detecting means each time a tracking command signal is output from the command means. Prediction means for calculating a deviation of the position and the moving direction of the moving body with respect to the current position and the moving direction after the set time based on the result, and detecting the inclination angle detecting means at the current time and measuring the distance meter Based on the result and the calculation result of the prediction means, a tilt angle calculation means for calculating a tilt angle for pointing the receiving unit to the indicator after the set time is provided, and after the set time, the tilt angle is calculated by the tilt angle calculation means. Become Lies in is provided with direction control means for operating the sea urchin drive.
移動体の移動速度と、移動体の移動方向に対する受信
部の向きの傾き角と、距離計による測定距離とに基づい
て、設定時間後に受信部を、指標具に向かせるための傾
き角を予測し、設定時間後にその予測した傾き角となる
ように受信部を向き変更して受信部を指標具に向かせる
のである。Based on the moving speed of the moving object, the inclination angle of the direction of the receiving unit with respect to the moving direction of the moving object, and the distance measured by the distance meter, the inclination angle for pointing the receiving unit to the indicator after a set time is predicted. Then, after a set time, the direction of the receiving unit is changed so as to have the predicted inclination angle, and the receiving unit is directed to the indicator.
そして、車輪のスリップ等に起因して、設定時間後の
移動体の実際の位置及び移動方向と、予測手段で算出さ
れた位置及び移動方向とに差が不可避的に生じるもの
の、設定時間をその差に基づいて適宜選定することによ
り、設定時間後に受信部を指標具に向かせるための傾き
角を極めて精度良く予測できるから、受信部を指標具に
確実に向かわせることができる。Although the difference between the actual position and the moving direction of the moving body after the set time and the position and the moving direction calculated by the prediction means inevitably occurs due to wheel slip or the like, the set time is By making an appropriate selection based on the difference, the inclination angle for pointing the receiving unit toward the indicator after the set time can be predicted with extremely high accuracy, so that the receiving unit can be surely directed toward the indicator.
その結果、本発明によれば、移動体の移動にかかわら
ず受信部を指標具に常に向かわせる追尾に時間がかかる
画像処理が不要で、移動体の移動速度を限定することが
ないようにその追尾を正確、かつ、高速に行えて、所期
の移動体から対象位置までの距離の測定を行なうことが
できるようになった。As a result, according to the present invention, it is not necessary to perform image processing that takes a long time to track the receiving unit always toward the indicator regardless of the movement of the moving body, so that the moving speed of the moving body is not limited. Tracking can be performed accurately and at high speed, and the distance from the intended moving object to the target position can be measured.
本発明の実施例を次に示す。 An embodiment of the present invention will be described below.
移動体の一体である自走式の運搬車（１）は、第１
図、第３図に示すように、走行面に設定したXY座標上で
の運搬車（１）の位置（Ｐ）を検出する位置検出手段
（２）と、運搬車（１）の移動方向を検出する方向検出
手段（３）と、前記位置検出手段（２）及び方向検出手
段（３）の検出結果に基づいて目標位置（P0）に到着す
るように走行手段（４）を作動させる自動走行制御手段
（５）とを備えている。The self-propelled transport vehicle (1), which is an integral part of
As shown in FIG. 3 and FIG. 3, the position detecting means (2) for detecting the position (P) of the transport vehicle (1) on the XY coordinates set on the running surface, and the moving direction of the transport vehicle (1) A direction detecting means (3) to be detected, and an automatic operating means for operating the traveling means (4) so as to reach the target position (P 0 ) based on the detection results of the position detecting means (2) and the direction detecting means (3). Running control means (5).
前記位置検出手段（２）は、第３図に示すように、XY
座標の原点を位置検出基準の第１の対象位置（P1）と
し、かつ、原点からＸ軸方向に設定距離（l0）を隔てた
位置を位置検出基準の第２の対象位置（P2）とするもの
であって、運搬車（１）の位置（Ｐ）から前記第１の対
象位置（P1）までの距離（l1）を測定する第１の測距装
置（A1）と、運搬車（１）の位置（Ｐ）から前記第２の
対象位置（P2）までの距離を測定する第２の測距装置
（A2）と、それら測距装置（A1），（A2）夫々による測
定距離（l1），（l2）及び前記設定距離（l0）から運搬
車（１）の位置（Ｐ）の座標値（X,Y）を算出する算出
手段（Ｂ）とから成る。As shown in FIG. 3, the position detecting means (2)
The origin of the coordinates is defined as a first target position (P 1 ) of the position detection reference, and a position separated from the origin by a set distance (l 0 ) in the X-axis direction is defined as a second target position (P 2 ) of the position detection reference. ) be one which the first distance measuring device for measuring the distance (l 1) from the position of the transportation vehicle (1) (P) to said first target position (P 1) and (a 1) A second distance measuring device (A 2 ) for measuring a distance from the position (P) of the transport vehicle (1) to the second target position (P 2 ), and the distance measuring devices (A 1 ), (A 1 ) a 2) measurement by respective distances (l 1), (l 2 ) and the set distance (l 0) truck from the coordinate value of the position (P) of (1) (X, Y) calculating means for calculating the (B ).
前記第１及び第２の測距装置（A1），（A2）は、第４
図に示すように、夫々、対象位置（P1），（P2）に設け
た指標具（６）からの空間伝播波を受信してそれら指標
具（６）までの距離（ｌ）を測定対象の前記距離
（l1），（l2）として測定する距離計（７）と、前記対
象とする指標具（６）からの空間伝播波を受信するよう
に指標具（６）に向く向きに前記距離計（７）の全体を
向き修正する追尾手段（８）とから成る。The first and second distance measuring devices (A 1 ) and (A 2 )
As shown in the figure, a spatially propagating wave from the index tool (6) provided at the target position (P 1 ) or (P 2 ) is received, and the distance (l) to the index tool (6) is measured. A distance meter (7) that measures the distances (l 1 ) and (l 2 ) of the target, and a direction facing the index device (6) so as to receive a spatially propagating wave from the target index device (6) Tracking means (8) for correcting the direction of the entire distance meter (7).
前記指標具（６）は、入射した光線をそれの入射方向
と平行な方向に反射するコーナキューブ利用の反射鏡で
ある。The indicator (6) is a reflecting mirror using a corner cube that reflects an incident light beam in a direction parallel to the incident direction.
前記距離計（７）は、赤外線の投光部と受信部とを備
え、投射したのち反射鏡（６）で反射して受光するまで
の時間から反射鏡（６）までの距離を測定する光波距離
計である。これら距離計（７）の取付手段は、第２図に
示すように、運搬車（１）に２つのターンテーブル
（９）を同一の鉛直軸芯（ｙ）周りに各別に回転自在に
支持させ、これらターンテーブル（９）の夫々に、支持
枠（10）を水平軸芯（ｘ）周りに揺動自在に支持させ、
それら支持枠（10）の夫々に対応する距離計（７）を装
着する手段である。つまり、距離計（７）は、ターンテ
ーブル（９）の回転と支持枠（10）の揺動向きを変更す
るようになっている。The range finder (7) includes an infrared light projecting unit and a receiving unit, and measures a distance from the time from when the light is projected to the time when the light is reflected and received by the reflecting mirror (6) to the distance to the reflecting mirror (6). It is a distance meter. As shown in FIG. 2, the mounting means of the distance meter (7) allows the transport vehicle (1) to rotatably support two turntables (9) around the same vertical axis (y). A support frame (10) is supported on each of these turntables (9) so as to be swingable about a horizontal axis (x),
This is means for mounting a distance meter (7) corresponding to each of the support frames (10). That is, the range finder (7) changes the rotation of the turntable (9) and the swing direction of the support frame (10).
前記追尾手段（８）は、運搬車（１）の移動に伴なう
距離計（７）を反射鏡（６）との水平方向での相対変位
にかかわらず、距離計（７）を反射鏡（６）に向かせて
測距を行なえるようにするための手段である。そして、
第４図に示すように、ターンテーブル（９）を回転させ
て距離計（７）を向き変更するステッピングモータ（8
A）（駆動装置の一例）と、追尾指令信号を間欠的に出
力するタイマ（8B）と、運搬車（１）の移動方向に対す
る距離計（７）の向きの傾き角（α）を検出する傾き角
検出手段（8C）と、速度検出手段（8D）と、予測手段
（8E）と、傾き角算出手段（8F）と、向き制御手段（8
G）とから成る。The tracking means (8) controls the distance meter (7) with the reflecting mirror (7) regardless of the relative displacement of the distance meter (7) with the reflecting mirror (6) in the horizontal direction accompanying the movement of the transport vehicle (1). This is a means for allowing distance measurement to be performed toward (6). And
As shown in FIG. 4, a stepping motor (8) rotates the turntable (9) to change the direction of the distance meter (7).
A) (an example of a driving device), a timer (8B) for intermittently outputting a tracking command signal, and detecting an inclination angle (α) of the direction of the distance meter (7) with respect to the moving direction of the transport vehicle (1). Tilt angle detection means (8C), speed detection means (8D), prediction means (8E), tilt angle calculation means (8F), and direction control means (8
G).
前記速度検出手段（8D）は、運搬車（１）の移動速度
を検出する手段であって、運搬車（１）の左右の車輪
（1a），（1b）の回転数を検出する回転センサ（8a），
（8b）と、これら回転センサ（8a），（8b）の検出回転
数から速さを算出するとともに、検出回転数の差から移
動方向を算出する速度演算手段（8C）とから構成されて
いる。The speed detecting means (8D) is means for detecting the moving speed of the transport vehicle (1), and is a rotation sensor (R) for detecting the rotational speed of the left and right wheels (1a) and (1b) of the transport vehicle (1). 8a),
(8b) and speed calculation means (8C) for calculating a speed from the rotation speeds detected by the rotation sensors (8a) and (8b) and calculating a moving direction from a difference between the rotation speeds detected. .
前記予測手段（8E）は、前記タイマ（8B）から追尾指
令信号が出力される毎、前記速度検出手段（8D）の検出
結果に基づいて、現時点における運搬車（１）の位置及
び移動方向に対する設定時間後における運搬車（１）の
位置及び移動方向の偏差を算出する手段である。換言す
れば、現時点における運搬車（１）の位置及び移動方向
を夫々、原点及びＹ軸方向とXY座標上での設定時間後に
おける運搬車（１）の位置及び移動方向を算出する手段
である。Each time the tracking command signal is output from the timer (8B), the predicting means (8E) sets the current position and the moving direction of the transport vehicle (1) based on the detection result of the speed detecting means (8D). This is a means for calculating the deviation of the position and the moving direction of the transport vehicle (1) after a set time. In other words, it is means for calculating the position and the movement direction of the transport vehicle (1) at the present time, respectively, after the set time on the origin, the Y-axis direction, and the XY coordinates, respectively. .
前記傾き角算出（8F）は、現時点における前記傾き角
検出手段（8C）の検出結果及び距離計（７）の測定結果
並びに予測手段（8E）の算出結果に基づいて、設定時間
後に距離計（７）を反射鏡（６）に向かせるための傾き
角（αｔ）を算出する手段である。The tilt angle calculation (8F) is based on the detection result of the tilt angle detection means (8C), the measurement result of the distance meter (7), and the calculation result of the prediction means (8E) at the present time, and the distance meter ( This is a means for calculating an inclination angle (αt) for turning 7) toward the reflecting mirror (6).
第５図に示すように、運搬車（１）が直進移動する簡
単なモデルを用いて詳述すると、現時点では、運搬車
（１）から反射鏡（６）までの距離（ｌ）及び傾き角
（α）とが夫々、距離計（７）及び傾き角検出手段（8
C）により実測され正確である。他方、移動量（Ｄ）
は、予測手段（8E）による算出値で予想値である。As shown in FIG. 5, a detailed description will be given using a simple model in which the transport vehicle (1) moves straight ahead. At this time, the distance (l) and the inclination angle from the transport vehicle (1) to the reflector (6) are shown. (Α) are the distance meter (7) and the inclination angle detecting means (8
Measured and accurate by C). On the other hand, the amount of movement
Is a predicted value calculated by the prediction means (8E).
今、設定時間後の運搬車（１）から反射鏡（６）まで
の距離をltと、設定時間に距離計（７）を反射鏡（６）
に向かせるための傾き角をαｔとすると、 γ＝sin-1｛（D/lt）・sinα｝ αｔ＝α＋γ であり、結果として である。Now, the distance from the transport vehicle (1) to the reflecting mirror (6) after the set time is lt, and the distance meter (7) is set to the reflecting mirror (6) at the set time.
Assuming that the angle of inclination for turning to is αt, γ = sin -1 ｛(D / lt) · sin α｝ αt = α + γ It is.
従って、上記の計算を行うことにより、設定時間に距
離計（７）を反射鏡（６）に向かわせる傾き角（αｔ）
を求めることができるのである。そして、車輪（1a），
（1b）のスリップ等に起因して、設定時間後の運搬車
（１）の実際の位置及び移動方向と予測手段（8E）で算
出された位置及び移動方向とに差（誤差）が発生するこ
とは不可避であるが、この誤差は運搬車（１）の移動量
が多くなればなるほど大きくなるから、移動速度や単位
移動当りの誤差の大きさ等に基づいて設定時間、つま
り、追尾指令信号の出力間隔を適宜選定することによ
り、Ｄとltとγとを実際の値に極めて近いものに、つま
り、算出された位置及び移動方向を実際の位置及び移動
方向として取扱うことができるようにして、αｔの信頼
性を確保することができる。Therefore, by performing the above calculation, the inclination angle (αt) that causes the distance meter (7) to face the reflecting mirror (6) at the set time.
Can be sought. And the wheels (1a),
A difference (error) occurs between the actual position and the moving direction of the transport vehicle (1) after the set time and the position and the moving direction calculated by the prediction means (8E) due to the slip and the like in (1b). It is unavoidable that the error increases as the moving amount of the transport vehicle (1) increases. Therefore, the set time, that is, the tracking command signal is set based on the moving speed and the magnitude of the error per unit movement. By appropriately selecting the output interval of, D, lt, and γ are made very close to the actual values, that is, the calculated position and moving direction can be treated as the actual position and moving direction. , Αt can be ensured.
前記算出手段（Ｂ）は、第１図に示すように、 cosλ＝（l0 2＋l1 2−l2 2）/2・l0・l1 Ｘ＝l1・cosλ Ｙ＝l1・sinλ の３つの式を用いて、運搬車（１）の位置（Ｐ）の座標
値（X,Y）を算出する手段である。The calculation unit (B), as shown in FIG. 1, cosλ = (l 0 2 + l 1 2 -l 2 2) / 2 · l 0 · l 1 X = l 1 · cosλ Y = l 1 · sinλ This is a means for calculating the coordinate value (X, Y) of the position (P) of the transport vehicle (1) by using the following three expressions.
前記方向検出手段（３）は、第１図に示すように、前
記第１、第２の測距装置（A1），（A2）の測定距離
（l1），（l2）と、設定距離（l0）と、傾き角検出手段
（8C）が検出した傾き角（α）とから、運搬車（１）の
移動方向を、それのＹ軸方向に対する傾斜角（θ）とし
て算出する手段であって、 cosλ＝（l0 2＋l1 2−l2 2）/2・l0・l1 から λ＝cos-1｛（l0 2＋l1 2−l2 2）/2・l0・l1｝ となり、この式と λ＝（π/2）−（α＋θ） とからθを求めるものである。As shown in FIG. 1, the direction detecting means (3) includes measurement distances (l 1 ) and (l 2 ) of the first and second distance measuring devices (A 1 ) and (A 2 ), From the set distance (l 0 ) and the tilt angle (α) detected by the tilt angle detecting means (8C), the moving direction of the transport vehicle (1) is calculated as its tilt angle (θ) with respect to the Y-axis direction. Means, cos λ = (l 0 2 + l 1 2 −l 2 2 ) / 2 · l 0 · l 1 to λ = cos −1 ｛(l 0 2 + l 1 2 −l 2 2 ) / 2 · l 0 · l 1 、, and θ is obtained from this equation and λ = (π / 2) − (α + θ).
（11）と（12）は、支持枠（10）と水平軸芯（Ｘ）周
りに揺動させて距離計（７）を上下向きに変更するステ
ッピングモータと向きを検出するエンコーダである。(11) and (12) are stepping motors for swinging around the support frame (10) and the horizontal axis (X) to change the distance meter (7) up and down, and an encoder for detecting the direction.
図面は本発明の実施例を示し、第１図は平面図、第２図
は測距装置の概略構成図、第３図、第４図はブロック
図、第５図は追尾動作を示す動作を示す概略平面図であ
る。 （６）……指標具、（７）……距離計、（１）……移動
体、（８）……追尾手段、（8A）……駆動装置、（8B）
……指令手段、（8C）……傾き角検出手段、（8E）……
予測手段、（8F）……傾き角算出、（8G）……向き制御
手段。1 is a plan view, FIG. 2 is a schematic configuration diagram of a distance measuring device, FIGS. 3 and 4 are block diagrams, and FIG. 5 is an operation showing a tracking operation. It is a schematic plan view shown. (6) ... indicator, (7) ... rangefinder, (1) ... moving body, (8) ... tracking means, (8A) ... drive device, (8B)
Command means (8C) Tilt angle detecting means (8E)
Prediction means, (8F): calculation of inclination angle, (8G): direction control means.
───────────────────────────────────────────────────── フロントページの続き (72)発明者 東藤 隆義 大阪府大阪市中央区本町４丁目１番13号 株式会社竹中工務店大阪本店内 (56)参考文献 特開 昭51−68253（ＪＰ，Ａ) 特開 平２−249986（ＪＰ，Ａ) 特開 昭59−26081（ＪＰ，Ａ) (58)調査した分野(Int.Cl.6，ＤＢ名) G01S 3/00 - 17/95 G01C 15/00 G01B 11/00──────────────────────────────────────────────────続 き Continuation of the front page (72) Takayoshi Higashito, Inventor 4-1-1-13 Honcho, Chuo-ku, Osaka-shi, Osaka Takenaka Corporation Osaka Main Store (56) References JP-A-51-68253 (JP, A) JP-A-2-24986 (JP, A) JP-A-59-26081 (JP, A) (58) Fields investigated (Int. Cl. 6 , DB name) G01S 3/00-17/95 G01C 15 / 00 G01B 11/00
Claims (1)
伝播波を受信してその指標具（６）までの距離を測定す
る距離計（７）を移動体（１）に設け、前記指標具
（６）からの空間伝播波を受信するように指標具（６）
に向く向きに前記距離計（７）の受信部を向き修正する
追尾手段（８）を設けてある移動体の測距装置であっ
て、前記追尾手段（８）を構成するに、前記受信部を向
き変更する駆動装置（8A）と、追尾指令信号を間欠的に
出力する指令手段（8B）と、移動体（１）の移動方向に
対する受信部の向きの傾き角（α）を検出する傾き角検
出手段（8C）と、移動体（１）の移動速度を検出する速
度検出手段（8D）と、前記指令手段（8B）から追尾指令
信号が出力される毎、前記速度検出手段（8D）の検出結
果に基づいて、現時点での移動体（１）の位置及び移動
方向に対する設定時間後の位置及び移動方向の偏差を算
出する予測手段（8E）とを設け、現時点での傾き角検出
手段（8C）の検出結果及び距離計（７）の測定結果並び
に予測手段（8E）の算出結果に基づいて、設定時間後に
受信部を指標具（６）に向かせるための傾き角（αｔ）
を算出する傾き角算出手段（8F）を設け、設定時間後に
傾き角（α）が傾き角算出手段（8F）の算出結果となる
ように駆動装置（8A）を作動させる向き制御手段（8G）
を設けてある移動体の測距装置。A moving object (1) is provided with a distance meter (7) for receiving a spatially propagating wave from an indicator (6) provided at a target position and measuring a distance to the indicator (6). The indicator (6) receives the spatially propagating wave from the indicator (6).
A tracking device (8) for correcting a direction of a receiving unit of the distance meter (7) in a direction toward the mobile device, wherein the tracking unit (8) is configured by the receiving unit. (8A), a command means (8B) for intermittently outputting a tracking command signal, and a tilt for detecting a tilt angle (α) of the direction of the receiving unit with respect to the moving direction of the moving body (1). Angle detecting means (8C), speed detecting means (8D) for detecting the moving speed of the moving body (1), and the speed detecting means (8D) each time a tracking command signal is output from the command means (8B). Prediction means (8E) for calculating a deviation of a position and a moving direction after a set time with respect to a position and a moving direction of the moving body (1) at the present time based on the detection result of (8C) detection results, distance meter (7) measurement results, and prediction means (8E) calculation results Based on the tilt angle for suited the receiver to an indicator device (6) after the set time ([alpha] t)
Angle calculation means (8F) for calculating the inclination angle (α), and a direction control means (8G) for operating the drive device (8A) such that the inclination angle (α) becomes the calculation result of the tilt angle calculation means (8F) after a set time.
A moving object distance measuring device provided with.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2206465A JP2842675B2 (en) | 1990-08-02 | 1990-08-02 | Moving object distance measuring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2206465A JP2842675B2 (en) | 1990-08-02 | 1990-08-02 | Moving object distance measuring device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0493683A JPH0493683A (en) | 1992-03-26 |
| JP2842675B2 true JP2842675B2 (en) | 1999-01-06 |
Family
ID=16523830
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2206465A Expired - Fee Related JP2842675B2 (en) | 1990-08-02 | 1990-08-02 | Moving object distance measuring device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2842675B2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10222773A (en) * | 1997-01-31 | 1998-08-21 | U S C:Kk | Building security system |
-
1990
- 1990-08-02 JP JP2206465A patent/JP2842675B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0493683A (en) | 1992-03-26 |
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