JPH0798380A - Automatic tracking system - Google Patents

Abstract

PURPOSE:To provide an automatic tracking system capable of accurately measuring the position of a target even when the target is traveling on a steep slope or a roughly irregular off-road. CONSTITUTION:This automatic tracking system is provided with a position information output means 1 installed on a moving target and outputting the position information and a target tracking means 2 tracking the target with the position information from the position information outputting means 1 and measuring the position of the target. The position information outputting means 1 is constituted of a target side optical device 13 outputting the position information to the target tracking means 2, a target side driving device 14 controlling the attitude of the target side optical device 13 in three axial directions, a rolling detecting mechanism 11 detecting the rolling of the target side optical device 13, and a target side control device 12 controlling the target side driving device 14 with the detected value by the rolling detecting mechanism 11.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic tracking system, and more particularly to an automatic tracking system suitable for automatic tracking of a vehicle traveling on an uneven terrain.

[0002]

2. Description of the Related Art In recent years, there is an increasing need to accurately detect the position of a moving object in real time due to demands for improved safety at construction sites and labor saving at production sites.

As shown in FIG. 17, a conventional automatic tracking system includes a mobile station 71 installed on a moving target and optically outputting position information, and a mobile station installed at a reference position (base). It is composed of a fixed station 81 that tracks the target object based on the position information from the station 71 and measures the position of the target object.

The mobile station 71 has a mobile prism optical device 74 having a reflecting prism 72 for reflecting the distance measuring light from the fixed station 81 and a light emitting / receiving unit 73 for transmitting / receiving the tracking light, and the mobile station optical device. The mobile station drive device 75 controls the attitude of the mobile device 74 in two axes, and the mobile station control device 76 controls the mobile station drive device 75 based on the light reception data of the mobile station optical device 74.

Further, the fixed station 81 controls the attitude of the fixed station optical device 82, which transmits and receives the distance measuring light and transmits and receives the tracking light, and the posture of the fixed station optical device 82 in two axial directions. The fixed station drive device 85 and the fixed station control device 8 for controlling the fixed station drive device 85 by the light receiving position of the position information in the fixed station optical device 82 and calculating the position of the target object.
6 and.

Here, two controllable units in each drive unit
The axes are the traveling direction of the target (pitch axis) and the direction perpendicular to the ground (yaw axis).

Next, the operation of the above conventional example will be described.

[0008] The fixed station optical device 82 outputs tracking light.

[0009]. Upon receiving the tracking light, the mobile station optical device 74 outputs the light receiving position information to the mobile station control device 76.

[0010]. The mobile station control device 76 controls the mobile station drive device 75 based on the light receiving position information from the mobile station optical device 74.

Next, the mobile station optical device 74 outputs tracking light.

[0012]. Upon receiving the tracking light, the fixed station optical device 82 outputs the light reception position information to the fixed station control device 86.

.. The fixed station control device 86 controls the fixed station drive device 85 based on the light receiving position information from the fixed station optical device 82.

As a result, the mobile station optical device 74 and the fixed station optical device 82 face each other. Then, the direction of the target can be known.

Next, the fixed station optical device 82 outputs light for distance measurement.

.. The distance measuring light from the fixed station optical device 82 is reflected by the reflecting prism 72.

.. When the fixed station optical device 82 receives the light for distance measurement reflected by the target object, it notifies the fixed station control device 86.

.. The fixed station control device 86 calculates the distance to the target object from the time required until the light for distance measurement returns.

As a result, the fixed station controller 86 can calculate the position of the target.

[0020]

However, in the above-mentioned conventional example, since the target object driving device controls the posture of the target object optical device only in the two-axis directions, as shown in FIG. The position of the target can be known when the target is traveling on a flat place without a slope.
As shown in Fig. 9, when the target object is traveling on a steep slope or rough terrain, the optical axis of the tracking light is aligned with the optical axis of the tracking light. There is an inconvenience that it is impossible to measure the position because it is not present.

[0021]

SUMMARY OF THE INVENTION The object of the present invention is to improve the inconvenience of the conventional example, and to accurately determine the position of the target object even when the target object is traveling on a steep slope or rough terrain. It is to provide an automatic tracking system capable of measuring.

[0022]

According to the present invention, based on position information output means installed on a moving target object and outputting position information, and position information fixedly installed at a reference position based on the position information from the position information output means. Target tracking means is provided for tracking the target and measuring the position of the target. The position information output means divides the target-side optical device that transmits position information toward the target-tracking means, and the ground posture of this target-side optical device into three axes including the rolling axis to drive and control them to a normal position. It is composed of a target side driving device which is always set. Then, the target side optical device is equipped with a rolling detection mechanism that detects rolling of the target side optical device, and a predetermined calculation is performed based on rolling related data detected by the rolling detection mechanism. The target-side control device that outputs the posture control data for the rolling axis to the side-side drive device is installed side by side with the target-side drive device. This aims to achieve the above-mentioned object.

[0023]

When the rolling detection mechanism outputs the rolling information of the target optical device to the target control device, the target control device calculates the rotation angle around the roll axis.

Then, the target object control device drives the roll direction rotation motor of the target object drive device based on the calculated rotation angle around the roll axis to perform rolling correction.

Thus, the target optical device can output the position information in the direction of the target tracking means.

[0026]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS.

In the embodiment shown in FIG. 1, position information output means 1 installed on a moving target object and optically outputting position information, and position information output means 1 installed at a reference position (base).
The target object tracking means 2 for tracking the target object and measuring the position of the target object based on the position information from

Here, as shown in FIG. 2, the position information output means 1 is fixed on the top of a pillar installed on the target so that light can be transmitted and received to and from the target tracking means 2 at all times. ing.

In FIG. 2, reference numeral 5 indicates a four-wheel vehicle controlled by radio as a target, and reference numeral 6 indicates a tracking stand fixedly installed at a reference position. The target tracking means 1 described above is mounted on the tracking base 6. In addition, a data processing computer is attached to the tracking base 6.

The position information output means 1 receives the light from the target tracking means 2 and outputs the position information to the target tracking means 2, and the target side optical device 13 and the target side optical device 13. The target object side driving device 14 for controlling the posture in three axis directions, the rolling detection mechanism 11 for detecting the rolling of the target object, the received light data of the target object side optical device 13 and the detection value of the rolling detection mechanism 11 are used to determine the target object. The target side control device 12 for controlling the side drive device 14 is provided.

The rolling detection mechanism 11 is placed on the roll axis of the target and, as shown in FIG.
1, an accelerometer 112, and an inclinometer 113. However, it is not limited to these.

As shown in FIG. 4, the target-side optical device 13 outputs a position information light to the reflecting mirror 131 for reflecting the distance measuring light from the target tracking means 2 and the target tracking means 2. It includes a position information light source 132 for outputting and a target side light receiving section 133 for receiving the tracking light from the target tracking means 2.

The target side driving device 14 is shown in FIGS.
As shown in, a roll direction rotation motor 141 that rotates the target side optical device 13 in the roll direction and a vertical rotation motor 1 that rotates the target side optical device 13 in the vertical direction.
42, a left-right rotation motor 143 that rotates the target-side optical device 13 in the left-right direction, an encoder 144 that monitors a rotation angle in the roll direction, an encoder 145 that monitors a rotation angle in the up-down direction, and a left-right rotation. An encoder 146 that monitors the angle, a motor driver 147 that drives the roll direction rotation motor 141, and a motor driver 148 that drives the vertical direction rotation motor 142.
And a motor driver 149 that drives the horizontal rotation motor 143.

Further, as shown in FIGS. 6 and 15, the roll direction rotation motor 141 sets the target object side optical device 13 around the central axis of the surface parallel to the ground and facing the target object tracking means (roll axis). Rotate. Vertical rotation motor 142
Causes the target side optical device 13 to rotate with the traveling direction of the target as an axis (pitch axis). Horizontal rotation motor 143
Rotates the target-side optical device 13 about the axis (yaw axis) perpendicular to the ground.

The target tracking means 2 includes a tracking optical device 22 for receiving light from the target, a tracking driving device 23 for controlling the attitude of the tracking optical device 22 in two axial directions, and a tracking optical device 22. The tracking control device 21 controls the tracking drive device 23 according to the light receiving state and calculates the position of the target object.

Of these, as shown in FIG. 7, the tracking optical device 22 reflects the distance measuring light source 221 which outputs distance measuring light for measuring the distance to the target and the target. A distance measuring light receiving unit 222 that receives light for distance measuring, a tracking light source 223 that outputs tracking light to the target object, and a tracking light receiving unit 224 that receives light for position information from the target object. It is equipped with.

The tracking drive device 23, as shown in FIG.
A vertical rotation motor 231 that rotates the tracking optical device 22 in the vertical direction, a horizontal rotation motor 232 that rotates the tracking optical device 22 in the horizontal direction, an encoder 233 that monitors the vertical rotation angle, and a horizontal rotation. An encoder 234 for monitoring the angle, a motor driver 235 for driving the vertical rotation motor 231 and a motor driver 236 for driving the horizontal rotation motor 232 are provided.

As shown in FIG. 9, the distance measuring light source 221 and the distance measuring light receiving section 222 of the tracking optical device 22 are installed close to each other, and the target side optical device 1 is also provided.
It is configured to face the third reflecting mirror 131.

Further, as shown in FIG. 9, the tracking light source 223 of the tracking optical device 22 and the target-side light receiving portion 133 of the target-side optical device 13 are arranged to face each other.

Further, as shown in FIG. 9, the tracking light receiving section 224 of the tracking optical device 22 and the target side optical device 13 are arranged.
It is configured to face the position information light source 132.

As shown in FIG. 10, the target side light receiving section 133 and the tracking light receiving section 224 include a filter 311 for removing ambient light and a two-dimensional position detecting element for detecting the center of gravity of the light and converting it into an electric signal. (PSD) 312 and filter 3
The lens 313 for converging the light transmitted through 11 onto the two-dimensional position detecting element 312.

As shown in FIGS. 11 and 13, the two-dimensional position detecting element 312 has a P-shaped silicon surface.
It is composed of three layers, an N layer on the back surface and an I layer in the middle. Then, the light incident on the surface is photoelectrically converted into four electrodes A, A ', which are attached to the P layer as a photocurrent.
Separately output from B and B '. The position data in the horizontal direction (X direction) is output from the electrodes A and A ′, and the position data in the vertical direction (Y direction) is output from the electrodes B and B ′.

When a light spot is incident on the two-dimensional position detecting element 312, a charge proportional to the light energy is generated at the incident position. The generated charge passes through the resistance layer, that is, the P layer as a photocurrent, and is output from each electrode. However, since the resistance layer is made to have a uniform resistance value over the entire surface, the photocurrent is distributed at a distance to the electrode. It is divided and extracted in inverse proportion. In the left-right direction (X direction), the distance between the electrodes B and B ′ is L, the photocurrent is I ₀ , the current drawn from the electrode B is I ₁ , and the electrode B ′ is taken out as shown in FIG. If the generated current is I ₂ (I ₀ = I ₁ + I ₂ ), the following relationship is established.

(A). When the center of the two-dimensional position detecting element 312 is the origin,

I ₁ = I ₀ (1-2X _A / L) / 2 (1)

Here, X _A is the distance from the origin to the incident position.

I ₂ = I ₀ (1 + 2X _A / L) / 2 (2)

(I ₂ −I ₁ ) / (I ₂ + I ₁ ) = 2X _A / L (3)

[0049] _{I 1 / I 2 = (L} - 2X A) / (L + 2X A) (4)

(B). When the end of the two-dimensional position detecting element 312 is the origin,

I ₁ = I ₀ (L−X _B ) / L (5)

Here, X _B is the distance from the origin to the incident position.

I ₂ = I ₀ × X _B / L (6)

(I ₂ −I ₁ ) / (I ₂ + I ₁ ) = (2X _B −L) / L (7)

I ₁ / I ₂ = (L−X _B ) / X _B (8)

Thus, by obtaining the difference or ratio of I ₁ and I ₂ , there is no relation to the incident light energy as shown in the equations (3), (4), (7) and (8). Moreover, the incident position of light can be obtained.

The tracking control device 21 can also be realized by a computer as shown in FIG.

Next, the operation of this embodiment will be described.

(1). For rolling correction on the target:

.. In the target object, the rolling detection mechanism 11 detects the acceleration and the inclination angle due to the rolling of the target object (step S1 in FIG. 14) and outputs the detection data to the target object side control device 12.

.. The target object side control device 12 calculates the rotation angle in the roll direction based on the detection data from the rolling detection mechanism 11 (step S2 in FIG. 14).

.. Further, the target-side control device 12 calculates a motor drive command value based on the rotation angle in the roll direction (step S3 in FIG. 14).

.. Further, the target object side control device 12 checks whether the rolling is a right rotation or a left rotation with respect to the vertical direction (step S4 in FIG. 14).

.. As shown in (a) of FIG. 16, if the rolling is clockwise rotation with respect to the vertical direction, the target object side control device 12 causes the motor driver 147 to rotate the motor in such a manner that the roll direction rotation motor 141 rotates counterclockwise. A drive signal is output (step S5 in FIG. 14).

On the other hand, as shown in FIG. 6C, if the rolling is counterclockwise with respect to the vertical direction, the target object side control device 12 causes the roll direction rotation motor 141 to rotate right. A motor drive signal is output to the motor driver 147 (step S6 of FIG. 14).

The motor driver 147 outputs a predetermined drive current to the roll direction rotary motor 141.

.. The target-side control device 12 checks the output of the encoder 144 and monitors the rotation angle in the roll direction. Then, as shown in (b) or (d) of FIG. 16, when the rotation angle reaches a predetermined angle, the output of the motor drive signal to the motor driver 147 is stopped.

The motor driver 147 stops the output of the drive current to the roll direction rotary motor 141.

By repeating the above-described processing at regular intervals, the rolling can be corrected so that the target-side optical device 13 always faces the tracking optical device 22.

(2). When tracking a target object:

.. In the target tracking means 2, the tracking control device 21 outputs tracking light from the tracking light source 223.

.. Upon receiving the tracking light from the target tracking unit 2, the target side light receiving unit 133 outputs the center of gravity position data of the light to the target side control device 12.

-1. The target-side control device 12 controls the target-side optical device 13 so that the center of gravity of the tracking light is located at the center of the target-side light receiving unit 133 based on the center-of-gravity position data from the target-side light receiving unit 133. The rotation angle in the vertical direction and the horizontal direction is calculated.

-2. The target-side control device 12 calculates a command value for driving the vertical rotation motor 142 from the vertical rotation angle of the target-side optical device 13.

The target-side control device 12 also calculates a command value for driving the left-right rotation motor 143 from the left-right rotation angle of the target-side optical device 13.

-3. The target object side control device 12 determines the motor driver 148 of the vertical rotation motor 142 based on the command value for driving the vertical rotation motor 142 and the rotation direction.
The motor drive signal is output to.

Further, the target object side control device 12 determines, by the command value and the rotation direction of the left-right direction rotation motor 143 drive,
A motor drive signal is output to the motor driver 149 of the horizontal rotation motor 143.

The motor driver 148 outputs a predetermined drive current to the vertical rotation motor 142.

Further, the motor driver 149 outputs a predetermined drive current to the left-right rotation motor 143.

.. The target object side control device 12 checks the outputs of the encoders 145 and 146 to monitor the vertical rotation angle and the horizontal rotation angle. And
When the rotation angle reaches a predetermined angle, the motor driver 14
The output of the motor drive signal to 8 and 149 is stopped.

.. In the target object side control device 12, the barycentric position data from the target object side light receiver 133 is used as the target object side light receiver 13.
When it is confirmed that the light has moved to the center position of 3, the position information light source 132 is driven to output the position information light to the target object tracking means 2.

.. When the tracking light-receiving unit 224 receives the position information light from the target object, it outputs the center-of-gravity position data of the light to the tracking control device 21.

-1. The tracking control device 21 uses the center-of-gravity position data from the tracking light-receiving unit 224 so that the center of gravity of the position information light is located at the center of the tracking light-receiving unit 224. Calculate the rotation angle of.

-2. The tracking control device 21 determines the vertical rotation motor 23 from the vertical rotation angle of the tracking optical device 22.
The command value for one drive is calculated.

The tracking control device 21 determines the horizontal rotation motor 232 based on the horizontal rotation angle of the tracking optical device 22.
Calculate the drive command value.

-3. The tracking control device 21 outputs a motor drive signal to the motor driver 235 of the vertical rotation motor 231 according to the command value and the rotation direction for driving the vertical rotation motor 231.

Further, the tracking control device 21 outputs a motor drive signal to the motor driver 236 of the left / right rotation motor 232 according to the command value for driving the left / right rotation motor 232 and the rotation direction.

The motor driver 235 outputs a predetermined drive current to the vertical rotation motor 231.

Further, the motor driver 236 outputs a predetermined drive current to the left-right rotation motor 232.

.. The tracking control device 21 uses each encoder 2
The outputs of 33 and 234 are checked to monitor the vertical rotation angle and the horizontal rotation angle. When the rotation angle reaches a predetermined angle, the motor drivers 235, 2
The output of the motor drive signal to 36 is stopped.

(3). To calculate the position of the target:

.. The tracking control device 21 calculates the direction of the target by the processing of (2) above.

.. Next, the tracking control device 21 drives the distance measuring light source 221 to output the distance measuring light to the target object and, at the same time, starts the timer.

.. The distance measuring light from the target tracking means 2 is
It is reflected by the reflecting mirror 131 of the target-side optical device 13.

.. When the distance measuring light receiving unit 222 receives the distance measuring light reflected by the target object, it notifies the tracking control device 21.

.. The tracking control device 21 includes the light receiving unit 2 for distance measurement.
When receiving the light reception notification from 22, the timer is stopped and the time required from the output of the distance measuring light to the reception of the light is calculated.

Then, the tracking control device 21 calculates the distance to the target from the time and the speed of the distance measuring light.

As a result, the three-dimensional position of the target can be obtained.

[0099]

Since the present invention is constructed and functions as described above, according to the present invention, the optical axis of the base station can always be made to coincide with the base station regardless of the posture of the target object. It is possible to provide an unprecedented excellent automatic tracking system that enables accurate tracking of a target even in the case of.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing an embodiment of the present invention.

FIG. 2 is an explanatory diagram for explaining the embodiment of FIG.

3 is a configuration diagram showing a configuration example of a rolling detection mechanism in FIG.

FIG. 4 is a configuration diagram showing details of a target-side optical device in FIG.

5 is a configuration diagram showing details of a target-side drive device in FIG. 1. FIG.

FIG. 6 is a configuration diagram showing the relationship between the target side optical device and the target drive device in FIG.

7 is a configuration diagram showing details of a tracking optical device in FIG.

8 is a configuration diagram showing details of the tracking drive device in FIG. 1. FIG.

9A and 9B are configuration diagrams showing a relationship between the target-side optical device and the tracking optical device in FIG. 1, FIG. 9A shows one specific example, and FIG. 9B shows another specific example.

FIG. 10 is a configuration diagram showing details of a target side light receiving unit and a tracking light receiving unit in FIG.

11 is an explanatory diagram for explaining details of the two-dimensional position detection element in FIG.

12 is an explanatory diagram (cross-sectional view) for explaining the operation of the two-dimensional position detecting element in FIG.

13 is an explanatory diagram for explaining the operation of the two-dimensional position detecting element in FIG.

FIG. 14 is a flowchart for explaining an operation of rolling correction on a target object.

15A and 15B are explanatory views for explaining the postures of the target object and the position information output means during traveling on an uneven terrain, FIG. 15A shows a normal traveling state, and FIG. 15B shows a forward leaning traveling state. FIG. 15C shows a backward tilting traveling state.

16A and 16B are explanatory views for explaining the rolling correction operation on the target object, FIG. 16A shows the correction operation in the backward tilted state, and FIG. 16B is the correction operation in the forward tilted state. It shows the operation.

17A and 17B are configuration diagrams showing a conventional example, FIG. 17A shows an example of a sea-soil mobile station, and FIG. 17B shows an example of a case where the mobile station is ground.

FIG. 18 is an explanatory diagram for explaining the operation of the conventional example.

FIG. 19 is an explanatory diagram for explaining the operation of the conventional example when traveling on an uneven terrain.

[Explanation of symbols]

 1 Position Information Output Means 2 Target Tracking Means 11 Rolling Detection Mechanism 12 Target Object Side Control Device 13 Target Object Side Optical Device 14 Target Object Side Drive Device 21 Tracking Control Device 22 Tracking Optical Device 23 Tracking Drive Device 111 Gyro 112 Accelerometer 113 Inclinometer 131 Reflecting mirror 132 Position information light source 133 Target side light receiving unit

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI Technical display location G05D 3/00 L 9179-3H H04B 10/105 10/10 10/22

Claims (2)

[Claims] 1. A position information output means which is installed on a moving target object and outputs position information, and which is fixedly installed at a reference position and tracks the target object based on the position information from the position information output means. In an automatic tracking system including a target tracking means for measuring the position of a target, the position information output means, a target side optical device for transmitting position information toward the target tracking means, and the target And a target object side drive device that drives and controls the ground posture of the side optical device into three axes including a rolling axis and always sets the target position side optical device to a normal position. Equipped with a rolling detection mechanism to detect
A target object side control device that outputs a posture control data for a rolling axis to the target object side drive device by performing a predetermined calculation based on the rolling related data detected by the rolling detection mechanism is set to the target object side drive device. An automatic tracking system characterized by being installed together. 2. The rolling detection mechanism comprises a gyro,
The automatic tracking system according to claim 1, wherein the automatic tracking system comprises an accelerometer and an inclinometer.