JPH0484708A - Coordinate-position detecting method - Google Patents

Abstract

PURPOSE:To make it possible to detect the coordinate positions accurately even if an object is separated from a moving surface and moved by computing the distance form the moving object to each receiver based on the time difference to the receiving timings of pulse sound at the receivers. CONSTITUTION:The pulse sound and the pulse light which are emitted from a transmitter 11 that is provided in a moving object P are detected with receivers 12 and 13 and a light receiving device 14 which are fixed and arranged. Since the light speed is sufficiently faster than the sound speed, the time difference between the light receiving timing t0 of the pulse light with the light receiving device 14 and the receiving timings t1 and t2 of the pulse sound with the receivers 12 and 13 is substantially made to be the time until the pulse sound reaches the receivers 12 and 13 from the transmitter 11. A control device computes distances L1 and L2 from the transmitter 11 to the receivers 12 and 13. Then, the coordinate positions X and Y of the moving object P are operated based on the distances L1 and L2 and the coordinate positions X1, Y1, X2 and Y2 of the positions A and B of the receivers 12 and 13. In this way, the coordinate positions can be accurately detected even if the object is separated from the moving surface and moved.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a coordinate position detection method for detecting the coordinate position of an object.

[Conventional technology]

Conventionally, when detecting the coordinate position of an object, for example, the amount of movement of the object is mechanically detected using a trackball, etc., and the coordinate position relative to a preset coordinate origin is calculated based on the amount of movement. was.

[Problem to be solved by the invention]

However, in such a coordinate position detection method, in order to detect the amount of movement, the object must always be in some form of contact with the moving surface. For example, a digitizer that reads the position on the drawing, etc. , it is necessary to move the sensor while touching it to the reading position, which makes the operation cumbersome, and the range of movement that can be detected is limited.
It was limited to the moving plane and could only detect two-dimensional coordinate positions.

In view of the above-mentioned points, it is an object of the present invention to provide a coordinate position detection method that allows the coordinate position of an object to be detected accurately even when the object moves away from the moving surface. .

[Means to solve the problem]

The above object, according to the present invention, includes a transmitter that is provided on a moving object whose coordinate position is to be detected and that generates synchronized pulsed sound and pulsed light, and that is disposed at a predetermined position with respect to the coordinate origin. at least two receivers arranged at a predetermined position with respect to the coordinate origin and receiving the pulsed light from the transmitter; The signal from the receiver is input,
By calculating the distance from the moving object to each receiver based on the time difference between the reception timing of the pulsed light of the light receiver and the reception timing of the pulsed sound of each receiver,
This is achieved by a coordinate position detection method characterized by including a control device that detects the coordinate position of the moving object from the coordinate position of each receiver.

[Function] According to the present invention, pulsed sound and pulsed light emitted from a transmitter provided on a moving object are detected by a receiver and a light receiver that are fixedly arranged, and at this time, the speed of light is sufficiently high relative to the speed of sound. Therefore, the control device uses the time difference between the timing at which the pulsed light is received by the light receiver and the timing at which the pulsed sound is received by the receiver as the time for the pulsed sound to travel from the transmitter to the receiver. By calculating the distance to each receiver and further calculating the position of the transmitter, the coordinate position of the moving object is detected, so the moving object can move to a certain position without contacting the moving surface. Even if the coordinate position is correct, the coordinate position can be detected accurately. In this case, since the moving object only needs to be equipped with a transmitter that generates pulsed sound and pulsed light, if a driving power source is installed, the moving object is bound from the receiver, light receiver, and control device. This makes it possible to move the device freely without being forced to move, and when used in place of a digitizer, for example, the operability will be improved. Furthermore, if there are three or more receivers, by similarly calculating the distance from the transmitter to each receiver, the coordinate position of a moving object in three-dimensional space can also be detected, such as an aircraft. It is also possible to detect the position of

〔Example〕

Hereinafter, the present invention will be explained in more detail based on one embodiment shown in the drawings.

FIG. 1 shows an embodiment of a coordinate position detection device to which the present invention is applied. Two receivers 12.13 are arranged at predetermined positions A and B with respect to the coordinate origin, a light receiver 14 is arranged at a predetermined position with respect to the coordinate origin, and the receiver 12.13 and the light receiver 1
and a control device (not shown) to which signals from 4 are input.

The limb oscillator 11 has a known configuration to generate pulsed sound and pulsed light in synchronization.

The receivers 12 and 13 are microphones that collect the pulse sound from the transmitter 11, and the light receiver 14 is a microphone that collects the pulse sound from the transmitter 11.
A photodiode, phototransistor, or other light-receiving element that receives pulsed light from a photodiode or phototransistor.

The control device controls the time difference between the reception timing t0 of the pulsed light of the light receiver 14 and the reception timing 1+ and 12 of the pulsed sound of each receiver 12 and 13, respectively (see FIG. 2).
By calculating the distance, L, from the transmitter 11 to each receiver 12.13 based on
．． The coordinate position of the moving object P is detected from the coordinate position of 13.

The coordinate position detection method according to the present invention is configured as described above, and the pulsed sound and pulsed light emitted from the transmitter II provided on the moving object P are transmitted to the fixedly arranged receiver 12.1.
3 and a light receiver 14. At that time, since the speed of light C is sufficiently faster than the speed of sound V, the light receiver 1
4 from the reception timing t0 of the pulsed light to the receiver 12.
．． 13, the time difference between the pulse sound reception timing t+ and tz is determined by the time difference between the pulse sound reception timing t+ and tz from the transmitter 11 to the receiver +2°13
The control device calculates the distance LL from the transmitter 11 to each receiver 12, 13 as follows.

L = t -v La = t2 ・V Here, L-=1 mm, v-=34 (1 m/s, Imm=t ・34 0 m/s, and t=2.94 μs, so light reception And if the time resolution of the reception timing is set to 2.94 μm, the distance L
+, L2, a resolution of 1 mm will be obtained.

The distance L1 obtained in this way. Based on L2, the control device determines the position A of the receiver 12.13.

The coordinate position (x, y) of the moving object P is calculated from the coordinate position (Xl, y,), (X2.y2) of B.

That is, by solving the following simultaneous equations, x and y are obtained, and the coordinate position (x, y) is thereby obtained.

In addition, in the embodiment described above, the light receiver 14 is the receiver 1.
Although the light receiver 14 is disposed on the line connecting the points 2 and 13, the position of the light receiver 14 is not limited to this.

Furthermore, it is clear that the pulsed sound generated by the transmitter 11 is not limited to sound waves of audible frequencies, but may also be ultrasonic waves, and it is also possible to use pulsed radio waves instead of pulsed light.

Furthermore, in the above embodiment, the receiver is 12.13
Although we have explained the case where there are two receivers, if three receivers are installed, the coordinate position of the moving object P can be determined from the coordinate positions of the three receivers, so the moving object P can move in three-dimensional space. Even when moving, its coordinate position can be determined.

〔Effect of the invention〕

As described above, according to the present invention, an extremely excellent coordinate position detection method that can accurately detect the coordinate position of an object even if the object moves away from the moving surface can be provided. Become.

[Brief explanation of the drawing]

Fig. 1 is a schematic diagram showing an embodiment of a coordinate position detection device to which the present invention is applied, Fig. 2 is a time chart showing reception and light reception timing of a receiver and a light receiver, and Fig. 3 is a moving object and reception timing. It is a figure showing the coordinate position of a container. 1st Figure 10...Coordinate position detection device, 11...Transmitter, 12.13...Receiver,
14... Light receiver. Patent applicant Mitsumi Electric Co., Ltd. Figure 2

Claims (1)

[Claims] A transmitter that is installed on a moving object whose coordinate position is to be detected and generates synchronized pulsed sound and pulsed light, and a transmitter that is disposed at a predetermined position with respect to the coordinate origin and collects the pulsed sound from the transmitter. at least two receivers that emit sound; a light receiver that is disposed at a predetermined position with respect to the coordinate origin and receives pulsed light from the transmitter; signals from the receiver and the light receiver are input; By calculating the distance from the moving object to each receiver based on the time difference between the reception timing of the pulsed light of the light receiver and the reception timing of the pulsed sound of each receiver, the distance from the coordinate position of each receiver is calculated. A coordinate position detection method comprising: a control device that detects the coordinate position of a moving object.