JPH02121009A - Device to control direction of object to be controlled according to posture of driver - Google Patents

Abstract

PURPOSE:To illuminate the moving direction of a vehicle body even in the midst of turning by detecting the direction of a head part against a human body, and changing the direction of a head lamp as linking with it. CONSTITUTION:The change of the direction of the head part against the trunk part of the human body is obtained from difference between the direction of a helmet fixed to the head part and the direction of the trunk part of the human body. The yawing angle of the head part against the trunk part of the human body is obtained as the output of an integration circuit OP1 whose differential inputs are the outputs of a first and a second rate of change of yawing angle detecting means Y1, Y2 fixed to the trunk part and the head part respectively, and the pitching angle of the head part against the trunk part of the human body is obtained as the output of the integration circuit OP2 whose differential inputs are the outputs of first and second rate of change of pitching angle detecting means P1, P2. The illuminating direction of the head lamp is controlled according to the change of the yawing angle and the change of the pitching angle obtained by such a way. Thus, the direction of the head lamp can be controlled correspondingly to the posture of a driver.

Description

DETAILED DESCRIPTION OF THE INVENTION a. Field of Industrial Application The present invention relates to a device for controlling the direction of a controlled object by following the posture of a driver of a moving object. The present invention can be used, for example, when controlling the direction of headlights in conjunction with the head movements of a driver of a motor vehicle such as a motorcycle, or when controlling the direction of a television camera of a self-propelled remote control robot, or when controlling the direction of a television camera of a self-propelled remote control robot. It can be used for directional control of searchlights, directional antennas, etc.

b. Conventional technology FIG. 3 shows the presentation bag W following the rotational movement of the helmet H.
FIG. 2 is a conceptual perspective view of an example of a device for controlling the direction of W;

The top of the helmet (helmet) H is connected to a pillar P fixed to the ceiling, and has a plurality of arms AO, AI, A2 . It is fixed through A3 so as to be able to move freely in translation and move freely in rotation. Helmet H
The yawing angle is determined by the yawing angle detectors Φa, Φb, ΦC
The pitching angle is determined from the outputs φa, φb, and φC of the pitching angle sensors Sa and Sb.

Determine from θb. These outputs pass through a signal processing circuit,
The information is sent to the attitude control section of the presentation device W.

The presentation device W has a plurality of arms ^4. on a beam body B fixed to the ceiling. A5. A6. Connected via A7, arm A4
．． A5. A6. The link mechanism consisting of A7 is controlled by a motor, the yawing angle of the presentation device W is controlled by a motor M2, and the pitching angle is controlled by a motor M3. old motor,
M2. M3 are yaw angle detectors Φa and Φ, respectively.
b, Φc1 pitching angle detector Sa, output φa of Sb,
It is controlled based on φb, φC2θa, and θb.

Another conventional technique involves detecting parallel infrared beam pulses from two infrared light sources attached to a helicopter pilot's helmet using an infrared detector installed inside the aircraft, determining the rotation angle of the beam, and A method is known for detecting the yawing angle and pitching angle of a target detector and controlling the direction of a target detector based on these angles.

C3 Problems to be solved by the invention In the method of connecting the top of the helmet and the ceiling using an arm so as to be able to translate and rotate freely, the movement of the head is not completely free, and the arm arrangement changes depending on the arrangement of the ceiling. There is a need.

In the method of detecting infrared rays from an infrared light source attached to a helmet using an infrared detector installed inside the aircraft, the rotation angle of the helmet is determined with respect to the aircraft body. Therefore, it is necessary to change the control device depending on the layout inside the aircraft.

The present invention proposes a device that controls the attitude of a controlled object by detecting the rotation angle of the helmet without using an arm or the like that connects the helmet to the ceiling or the like, and regardless of the arrangement within the ceiling or the like. Take it as a challenge.

d. Means for Solving the Problem The above problem consists of a first direction change rate detection means for detecting the time change rate of the direction of the human body's torso, and a first direction change rate detection means for detecting the time change rate of the direction of the human body's head. an operational amplifier circuit that time-integrates the difference between the outputs of the first and second direction change rate detectors; and a controlled object that changes the direction of the controlled object based on the output of the operational amplifier circuit. The problem was solved by a device that controls the direction of a controlled object based on the driver's attitude, which is characterized by having an object attitude control means. More specifically, the first yawing angle change rate detecting means detects the time rate of change of the yawing angle of the torso of the human body, and the first pitching angle detecting means detects the time rate of change of the pitching angle of the torso of the human body. a change rate detection means, a second yawing angle change rate detection means for detecting the time change rate of the yawing angle of the helmet, a second pitching angle change rate detection means for detecting the time change rate of the pitching angle of the helmet; 1st. Second
yawing angle difference output means for time-integrating the difference between the outputs of the yawing angle change rate detection means of the first to output the yawing angle of the helmet with respect to the torso of the human body; Pitching angle difference output means for time-integrating the output difference of the second pitching angle change rate detection means to output the pitching angle of the helmet with respect to the torso of the human body; The apparatus is characterized by comprising a yawing angle control means for controlling the yawing angle and a pitching angle control means for controlling the pitching angle of the controlled object based on the output of the pitching angle difference output means, and the apparatus follows the rotational movement of the head. The problem was solved by a device that rotates the controlled object.

e. Operation FIG. 2 is a perspective view of the motorcycle to show the direction of the axis of the torso and the direction of the axis of the helmet of the operator of the motorcycle during turning.

The axis of rotation of the torso of the human body is represented by a, and the axis of rotation of the head or a helmet fixed to the head is represented by b.

For example, when the vehicle is turning to the right, the driver tries to look at the right front of the vehicle. To do this, it turns its head to the right with respect to the human body and maintains this position while turning. Similarly, when the vehicle is turning to the right, for example while climbing a slope, the driver tries to look forward and to the upper right of the vehicle. To do this, the head is turned to the upper right side relative to the human body, and the robot rotates while maintaining this direction. Therefore, by detecting the orientation of the head relative to the human body and changing the orientation of the headlamp in conjunction with this detection, it is possible to illuminate the direction in which the vehicle is traveling even while turning.

The change in direction of the head relative to the torso of the human body can be determined from the difference between the direction of the helmet fixed to the head and the direction of the torso of the human body. The yawing angle of the head with respect to the torso of the human body is determined by the first yaw angle attached to the torso and helmet, respectively.
The output of the second yawing angle change rate detecting means can be obtained as the output of an integrating circuit which has a differential input. Similarly, the pitching angle of the head with respect to the torso of the human body is determined by the pitching angle of the head with respect to the torso of the human body. It can be obtained as the output of an integrating circuit which uses the output of the second pitching angle change rate detection means as a differential input. The irradiation direction of the headlamp is controlled using a known method based on the changes in the yawing angle and pitching angle determined in this manner.

f. Embodiment FIG. 1 is a conceptual diagram of a system for controlling the direction of an autopilot television camera in response to changes in the direction of a helmet.

The first yawing angle change rate detection means Yl and the first pitching angle change rate detection means P1 which respectively detect the time change rate of the yawing angle and the time change rate of the pitching angle of the human body's torso are connected to the human body's torso or the seat. installed on.

Further, a second yawing angle change rate detection means Y2 and a second pitching angle change rate P2 are attached to the helmet and detect the time change rate of the yawing angle and the time change rate of the pitching angle of the helmet fixed to the head. It is being

1st. Second yawing angle change rate detection means Yl.

Y2 and 1st. The second pitching angle change rate detection means PL, P2 can be realized by a gyro sensor.

1st. Second yawing angle change rate detection means Yl.

an operational amplifier circuit OPI consisting of an integrating circuit whose differential input is the output of Y2; Second pitching angle change rate detection means P1. The respective outputs of the operational amplifier circuit OP2, which consists of an integrating circuit that uses the output of P2 as a differential input, approximately correspond to changes in the yawing angle and pitching angle in the direction of the axis of the helmet with respect to the axis of the human body's torso, except for the integral constant. equal. The integral constant can be changed by adjusting the offset voltages, etc. of the operational amplifier circuits OPI and OP2. For example, based on the posture when driving straight at a constant speed, the operational amplifier circuit OPI at that time.

The offset voltage is adjusted so that the output of OF2 becomes zero.

The direction of the remotely controlled television camera is controlled in accordance with the outputs of the operational amplifier circuits OPI and OP2.

The yawing angle of the television camera CMR is determined by the output of the yawing angle control circuit YC which has differential inputs as the output of the yawing angle detector YS that detects the yawing angle of the television camera and the output of the operational amplifier circuit OPI.
It is controlled by controlling M.

Similarly, the pitching angle of the television camera CMR is determined by the pitching angle detector ps that detects the pitching angle of the television camera.
The pitching angle control motor PM is controlled by the output of a pitching angle control circuit pc which has differential inputs as the output of the output of the pitching angle control circuit pc and the output of the operational amplifier circuit OP2.

Note that the yawing angle change rate detecting means and the pitching angle change rate detecting means can be realized using not only a gyro sensor but also a geomagnetic sensor. A geomagnetic sensor consists of a primary coil wound uniformly around an annular magnetic core, and two solenoid coils wound along two perpendicular diameters of the inner ring so as to include the annular ring inside. is excited with an alternating current of about 1 kHz, and the time change in the direction of the axis of the ring is determined from the difference in the outputs of both solenoid coils serving as secondary coils.

f. Effects of the Invention The directions of headlamps, television cameras, etc. can be controlled according to the driver's posture without reducing the degree of freedom of movement of the helmet and regardless of the interior layout of the vehicle.

[Brief explanation of the drawing]

Fig. 1 is a conceptual diagram of a preferred embodiment of the present invention, Fig. 2 is a perspective view of a motorcycle and a motorcyclist while turning, and Fig. 3 is a conceptual diagram of an example of a system for controlling the direction of a presentation device by the movement of a helmet. FIG.

Claims (1)

[Claims] a first direction change rate detection means for detecting a time change rate in the direction of the human body's torso; a second direction change rate detection means for detecting a time change rate in the direction of the human body's head; It is characterized by comprising an operational amplifier circuit that time-integrates the difference between the outputs of the two direction change rate detection means, and a controlled object attitude control means that changes the direction of the controlled object based on the output of the operational amplifier circuit, A device that controls the direction of a controlled object based on the driver's posture.