JP2011185712A - Automatic position adjusting device of target for visual axis adjustment - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve the problem wherein, whereas a target is used for allowing a visual axis of a sensor apparatus to agree with a reference axis of a machine body, when the sensor apparatus having the visual axis is allowed to agree with the reference axis of the machine body loaded with the sensor apparatus, much time and labor are required for adjustment, because position adjustment between the target and the reference axis of the machine body is performed manually. <P>SOLUTION: A laser light generation device is mounted on the reference axis of the machine body, and a photodetector is provided on the target. Hereby, a deviation quantity between the position of the reference axis of the machine body and a reference axis of the target is calculated, to thereby enable automatic position adjustment. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  In this invention, when performing collimation adjustment of a sensor device that detects a target within a viewing angle, a reference axis of a target for visual axis adjustment for aligning the visual axis of the sensor device is set in advance as a base axis of the device on which the sensor device is mounted. The present invention relates to a position adjusting device for matching a line.

  A sensor device such as a camera or a radar that detects a target within a viewing angle is mounted on a body such as a car or an aircraft, and measures the presence direction of the target. After these sensor devices are mounted on the airframe, it is necessary to match the viewing angle central axis (hereinafter referred to as the visual axis) direction of each sensor device with the base axis of the airframe.

Conventionally, when a camera is mounted on an on-board machine, the following adjustments have been made to make the camera's visual axis coincide with the base axis of the on-board machine.
First, the visual axis adjustment target is placed in front of the camera and the mounting machine.
Next, based on the characteristics of the sensor device to be used, the distance between the visual axis adjusting target and the mounting machine is set to a predetermined interval. For example, in the case of a camera having a telephoto optical system, it may not be possible to focus at a short distance. In this case, the visual axis adjustment is performed by moving the visual axis adjustment target to the distance at which the focal point is formed.

The visual axis adjustment target includes a camera target for matching the visual axis of the camera mounted on the mounting machine, and a mounting machine base axis target for matching the base axis of the mounting machine. At this time, the alignment telescope is mounted in a direction that coincides with the base axis of the mounting machine, and it is confirmed that the target for mounting base axis can be seen through the alignment telescope.
The alignment telescope is pre-aligned and collimated in the direction in which the visual axis coincides with the base line of the mounting machine. Configured to match. For example, the mounting tool is provided with a V-shaped groove, and the outer axis of the alignment telescope is brought into contact with the V-shaped groove of the mounting tool so that the base line of the mounting machine and the visual axis of the alignment telescope coincide.

  The visual axis adjustment target and the alignment telescope display cross marks for adjusting the position and angle, respectively, and adjust the position and angle of the visual axis adjustment target so that both marks coincide. . At this time, if the distance between the visual axis adjustment target and the mounting machine is long, the distance between the visual axis adjustment target and the mounting machine is adjusted many times in order to fine-tune the position and angle of the visual axis adjustment target. It was necessary to work back and forth. For this reason, it takes time and labor to finely adjust the position and angle of the visual axis adjustment target, and when the reciprocation distance is long, work by two or more people is required.

  If the position and angle of the alignment telescope and the target for the machine base axis match, this time the camera target is imaged with the camera, and the camera mounting angle and position are adjusted so that the center position of the camera matches the camera target. There is a need to.

  On the other hand, it is also possible for a worker to work by irradiating laser in the vertical and horizontal directions and using the emitted light as a mark (see, for example, Patent Document 1). However, this method has a problem that manual fine adjustment of the position and angle is troublesome.

Japanese Patent Laid-Open No. 4-86518

  As explained above, when the base line axis of the mounted machine such as a vehicle or an aircraft is aligned with the axis of the sensor device to be mounted, if the work for adjusting the position and angle of the target for the mounted machine base line is performed manually, There was a problem that a reciprocating operation between the machine base axis target and the airframe was required, which took time and labor.

  Also, when working with two or more people without reciprocating between the mounting machine and the visual axis adjustment target, it is necessary to secure personnel during the work and there is a distance that makes it difficult to reach the voice It was necessary to prepare a way for workers to communicate with each other.

  The present invention has been made to solve such a problem, and automatically adjusts the position of the base axis of the mounting machine and the reference axis of the target for visual axis adjustment without requiring a work by a plurality of persons. An object of the present invention is to obtain an automatic position adjustment device for a visual axis adjustment target.

  An automatic position adjustment device for a visual axis adjustment target according to the present invention is arranged on a base line of a mounted device on which a sensor device having a visual axis is installed, and outputs a cross-shaped laser beam, and the sensor device. A target board that provides a reference axis for aligning the visual axis of the light source, a light receiver that is fixed to the target board and in which a plurality of light receiving elements are arranged in a cross shape, and a light receiving element that receives laser light in the light receiver Based on the position, the laser position calculation unit for determining the position of the laser beam applied to the light receiver, and the positional deviation between the laser light applied to the light receiver determined by the laser position calculation unit and the light receiver is eliminated. As described above, a visual axis adjustment target having a drive control unit that moves the position of the light receiver together with the target board is provided.

  According to the present invention, the reference axis of the target can be automatically matched with the base axis of the device on which the sensor device is mounted, without the operator manually adjusting the alignment position of the target.

It is a block diagram which shows the structure of the automatic position adjustment apparatus of the visual axis adjustment target concerning Embodiment 1 of this invention. It is explanatory drawing which shows arrangement | positioning of the target for mounting machine base axes, and the target for mounting sensor apparatuses of the visual axis adjustment target concerning Embodiment 1 of this invention. It is a flowchart which shows the procedure of the automatic position adjustment of the mounting machine base axis target concerning Embodiment 1 of this invention. It is explanatory drawing of the calculation method of arrangement | positioning of the light receiver of the target for mounting machine base axes, and the center position of a laser beam concerning Embodiment 1 of this invention.

Embodiment 1 FIG.
Hereinafter, an automatic position adjustment device for a visual axis adjustment target according to Embodiment 1 of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing the configuration of an automatic position adjustment device for a visual axis adjustment target according to Embodiment 1 of the present invention. The visual axis adjusting target automatic position adjusting apparatus according to the first embodiment of the present invention includes a laser beam generator 14 and a visual axis adjusting target (hereinafter referred to as a target) 15. Here, the target 15 is installed in front of an onboard machine such as a vehicle or an aircraft, and is used for collimation adjustment on an onboard sensor device having a visual axis such as a camera or a radar installed on the onboard machine.

  The laser light generator 14 oscillates a laser intensity adjusting unit 1 that adjusts the flashing frequency of the laser and the intensity in the vertical and horizontal directions, and a laser beam that forms a cross line corresponding to the output of the laser intensity adjusting unit 1. A laser light source 2 that emits a cross-shaped laser beam. The cross-shaped laser beam output from the laser beam generator 14 differs in the laser beam radiation intensity between the laser beam whose optical image forms a vertical line and the laser beam that forms a horizontal line. The laser intensity is adjusted so that the radiation intensity of the laser beam forming the line is weak and the radiation intensity of the laser beam forming the lateral line is increased.

  The target 15 includes a light receiver 3, a detection circuit 4, a blinking frequency determination unit 5, a laser intensity determination unit 6, a light reception position determination unit 7, a laser position calculation unit 8, a movement amount and direction calculation unit 9, , A drive control unit 10, motors 11, 12, 13, a board constituting an onboard machine axis target (hereinafter referred to as “axle target”) 21, an onboard sensor equipment target (hereinafter referred to as an onboard equipment target) It is comprised from the board (target board) to which 22 is attached. A crosshair is drawn on the board of each of the machine target 21 and the mounted equipment target 22, and the intersection of the crosshairs forms a reference axis. The reference axis of the mounted device target 22 is a reference axis for matching the visual axis of the mounted sensor device.

  The laser light generator 14 emits laser light that blinks at a predetermined frequency. The light receiver 3 is formed by arranging a plurality of light receiving elements in a cross shape, receives the laser light emitted from the laser light generating device 14, and converts the light signal received for each light receiving element into an electric signal. The cross lines on which the light receiving elements of the light receiver 3 are arranged are arranged on the board of the axis target 21 so as to coincide with the cross lines drawn on the board of the axis target 21. The detection circuit 4 amplifies and outputs the output of the electrical signal obtained by each light receiving element of the light receiver 3. The blinking frequency determination unit 5 determines whether or not the output value from the detection circuit 4 has a specified frequency, so that the light detected by the detection circuit 4 serves as a reference axis for the mounted machine (hereinafter referred to as an axis). It is determined whether or not the light is emitted by the laser beam generator 14 installed in the above.

  The laser intensity determination unit 6 measures whether or not the intensity of the received light is higher than a specified value, and the light reception position determination unit 7 determines the position coordinates of each light receiving element of the light receiver 3 receiving the laser light. Make a decision. The laser position calculation unit 8 estimates the position where the laser is irradiated based on the outputs of the light receiving position determination unit 6 and the laser intensity determination unit 7. The movement and direction calculation unit 9 is configured so that the position where the laser is irradiated in a cross on the light receiver 3 estimated by the laser position calculation unit 8 and the center position of the light receiver 3 arranged in the cross match. Then, the movement amount and direction for moving the target 15 are calculated and output. The drive control unit 10 generates and outputs a signal for moving each motor according to the movement amount and the output value from the direction calculation unit 9, and outputs a motor (Elevation direction) 11, a motor (Azimuth direction) 12, a motor ( (Roll direction) 13 is driven to move the position of the axle target 21 in the target 15. As a result, the axis target 21 of the target 15 can move around three axes in the elevation direction, the Azimuth direction, and the roll direction.

  In addition, the laser beam generator 14 is collimated in advance in a direction in which the visual axis coincides with the machine axis, and the visual axis of the laser beam generator 14 is simply attached to a mounting tool (not shown) of the mounting machine. Is configured to match the axis of the onboard machine. For example, the mounting tool is provided with a V-shaped groove, and the outer cylinder of the laser light generating device 14 is brought into contact with the V-shaped groove of the mounting tool so that the axis of the mounting machine coincides with the visual axis of the laser light generating device 14. As shown, the mounting tool is attached to the loading machine. That is, the visual axis of the laser beam generator 14 represents the axis of the mounting machine.

  As described above, in the automatic position adjusting device for the visual axis adjustment target according to the first embodiment, the laser light of the laser light generation device 14 that is matched with the direction of the axis in advance is received by the light receiver 3 provided on the target 15. By receiving light, the axis and the position of the light receiver 3 can be automatically adjusted. For this reason, it is not necessary for the operator to finely adjust the position of the target 15 manually, and the labor and time of the work can be reduced.

  FIG. 2 is an external view of the target 15. The relative positions of the axle target 21 and the mounted equipment target 22 are fixed and integrally attached to the target 15. When the axle target 21 is moved by each motor, the mounted equipment target 22 is also fixed. It is configured to move together.

The visual axis adjusting target automatic position adjusting apparatus according to the first embodiment is configured as described above and operates as follows.
First, as shown in the flowchart of FIG. 3, the target 15 is installed on the extension of the axle before the mounting machine (step 51). At this time, the rough adjustment of the position is made to some extent by visual observation so that the target 22 for the mounted device of the target 15 is installed on the extension of the visual axis of the mounted sensor device.
Next, the laser generator 14 is installed on the axis, and laser light that forms cross lines having different intensities in the vertical and horizontal directions is emitted in pulses (step 52).

The light receiver 3 of the target 15 receives the laser beam (step 53), and outputs a signal output having an amplitude corresponding to the irradiated illuminance from the detection circuit 4 (step 54).
The signal output from the detection circuit 4 measures the frequency in the blinking frequency determination unit 5, and when it is not the prescribed frequency, it is determined that the laser is not from the laser generator 14 on the axle.
On the other hand, when the measurement frequency is a prescribed frequency, it is determined that the laser beam is emitted on the axis side, and an output signal from the detection circuit 4 is sent to the laser intensity determination unit 6 (step 55). .

  The laser intensity determination unit 6 determines whether the amplitude (signal intensity) of the signal input from the blinking frequency determination unit 5 is larger than the specified amplitude (step 56). When the laser intensity determination unit 6 is larger than the prescribed amplitude (threshold value), it records the coordinates of the light receiving element receiving the laser beam and the received signal intensity in the light receiver 3, and receives the next light receiving position determination unit 7. Judgment is made.

The light receiving position determination unit 7 receives the laser light (the signal intensity is a threshold value) based on the element coordinates of the light receiving element receiving the laser light in the light receiver 3 recorded by the laser intensity determination unit 6. It is determined whether or not a larger element than the center light receiving element of the cross in the light receiver 3 exists (step 56).
If it is determined by the determination that there is an element other than the light receiving element at the center of the light receiver 3, the laser position calculation unit 8 performs steps 58 to 60 described below, and then returns to step 53 to perform the same. Repeat the operation.
If it is determined by the determination that only the center light receiving element of the light receiver 3 is receiving light, the laser position calculator 8 proceeds to step 61.

  In step 58, when the light receiving elements other than the light receiving element at the center of the light receiver 3 receive the laser beam and the number of light receiving elements received is two or less, the laser position calculation unit 8 The coordinates of the light receiving element receiving light are output to the movement amount and direction calculation unit 9.

  The movement amount and direction calculation unit 9 is a direction in which the center position of the cross of the laser beam received by the light receiver 3 approaches the center position of the light receiver 3 arranged in the cross (position of the center light receiving element). The drive control unit 10 drives the motor (Elevation direction) 11 and the motor (Azimuth direction) 12 in the directions indicated (steps 59 and 60).

  The laser position calculation unit 8 is a case where an element other than the light receiving element at the center of the light receiver 3 receives the laser light because the center of the laser light is deviated from the center of the light receiver 3, and For example, when the number of light receiving elements is three, the position irradiated with the laser beam is estimated by the method shown in FIG. 4 (step 58). In FIG. 4, the laser beam radiation intensity of the crosswise laser beam output from the laser beam generator 14 is weak, the laser beam radiation intensity of the transverse line is strong, and the laser beam longitudinal line is the light receiver. 3 illustrates a state in which the light receiving element 3 is inclined by about 20 degrees with respect to the crosshairs. Hereinafter, this estimation method will be further described with reference to FIG.

  A straight line A connecting the points of the circle (1) and the circle (2) in FIG. 4 at which the received laser beams have the same intensity is obtained by the following equation (1). This straight line A indicates a laser having a strong laser beam intensity, for example, a horizontal line. The circles (1) and (2) are formed by the cross laser beam in the cross light receiver 3. The light receiving element position is shown.

  Also, the equation of a straight line B passing through the point of the circle (3) where the intensity of the laser beam is detected, which is different from the points of the circle (1) and the circle (2) in FIG. It calculates | requires by Formula 2 of. The straight line B indicates a laser having a low laser beam intensity, for example, a vertical line, and the dot (3) indicates the position of the light receiving element where the cross laser beam is imaged in the cross receiver 3. Is shown.

The laser position calculator 8 obtains the coordinates of the dot circle (4) (x _c , y _c ) in FIG. 4 that are the intersection coordinates of the straight line A and the straight line B, and uses the coordinates as the intersection coordinates of the cross of the laser beam. The laser position calculation unit 8 outputs the coordinates of the dot circle (4) in FIG. 4 to the movement amount and direction calculation unit 9.

  The movement amount and direction calculation unit 9 determines the movement amount and movement direction of the axis target 21 of the target 15 so that the cross point coordinates of the cross of the laser beam obtained from the laser position calculation unit 8 become the center position of the light receiver 3. Calculate and output. The drive control unit 10 drives the motor (Elevation direction) 11 and the motor (Azimuth direction) 12 in the designated directions (steps 59 and 60).

When the axis target 21 of the target 15 is moved in the direction instructed by the movement amount and direction calculation unit 9 by each motor, so that only the center light receiving element of the light receiver 3 receives the laser beam. The laser position calculator 8 outputs the coordinates of the center light receiving element.
Here, the movement and direction calculation unit 9 that has received the output indicating that only the light receiving element at the center of the light receiver 3 receives light calculates and outputs the rotation angle θ in the Roll direction by the following equation (3). .

  The drive control unit 10 rotates the motor (Roll direction) 13 by the rotation angle θ and rotates the axis target 21 of the target 15 (step 65).

  Finally, in step 66, it is confirmed that all the light receiving elements of the light receiver 3 receive the laser beam. If there are elements that do not receive the light, all the light receiving elements receive the laser light. In addition, the rotation angle θ is sequentially calculated by the iterative formula (3), and the axis target 21 of the target 15 is rotated in the Roll direction.

  As described above, according to the first embodiment, the laser light emitted by the laser generator 14 is received by the light receiver 3 used as the axle target 21, and its illuminance and light reception by the light receiver 3. Using the element coordinates of the element, the position of the laser beam is estimated, the position of the light receiver 3 is moved by a motor, and the position of the light receiver 3 arranged in the cross is the same as the position of the laser light irradiated on the cross. By matching, the position of the axis 21 and the axis target 21 of the target 15 is automatically adjusted, and the position of the axis 21 and the axis target 21 of the target 15 can be quickly adjusted without manual fine adjustment of the position. Can be matched. In addition, since the target 21 for the axle and the target 22 for the mounted equipment are integrally coupled, the position of the target 20 for the equipment is set to be parallel to the axis of the equipment by matching the positions of the target 21 for the axle and the target for the axle. Will be performed.

  In other words, the visual axis adjustment target automatic position adjustment device according to the first embodiment is arranged on the base axis of the mounted device on which the sensor device having the visual axis is installed, and outputs a cross-shaped laser beam 14. A target board (mounted device target 22) that provides a reference axis for matching the visual axis of the sensor device, and a light receiver 3 in which a plurality of light receiving elements fixed to the target board are arranged in a cross shape. And a laser position calculator 8 for determining the position of the laser beam irradiated on the light receiver 3 based on the position of the light receiving element that has received the laser light in the light receiver 3, and the light receiver determined by the laser position calculator 8. A drive control unit 10 that moves the position of the light receiver 3 together with the target board so as to eliminate the positional deviation between the position of the laser beam irradiated to the light receiver 3 and the light receiver 3; Those having a shaft adjustment target vision having.

  Specifically, the laser light source 2 that emits a laser beam in a pulse shape with respect to time so as to coincide with the axis of the airframe on which the sensor device having the visual axis is mounted, and the radiation intensity in the vertical and horizontal directions are spatially A laser light generator 14 having a laser intensity adjusting unit 1 that adjusts the radiation intensity of laser light so as to form different cross lines, and a plurality of light receiving elements are arranged side by side so as to form cross lines vertically and horizontally. The axis target 21 provided with the light receiver 3 that receives the laser light emitted from the laser light generator 14 and the output value from each light receiving element of the light receiver 3 are input to define the output value. A blinking frequency determination unit 5 that repeats blinking according to the periodicity, a light receiving position determination unit 6 that outputs a light receiving position of a light receiving element that has received the laser light blinking according to the period, Out A laser intensity determination unit 7 for measuring whether or not the intensity (illuminance) of light received by the light receiving element at the specified position is higher than a specified value, the light receiving position of the laser light and its A laser position calculation unit 8 that estimates a position (laser light irradiation position) irradiated with a cross laser beam emitted from the laser light generation device 14 using an output value of illuminance measurement; and the laser light irradiation position Using the calculated output value, the amount of movement to move the position of the light receiving element in the Azimuth, Elevation, and Roll directions so that the laser beam irradiation position emitted in the cross matches the position of the light receiving element arranged in the cross And a movement amount and direction calculation unit 9 for calculating the movement direction, a drive control unit 10 for operating the motor in the Azimuth, Elevation, and Roll directions according to the movement amount and direction calculation results, and a light receiver by the drive control. Position Azimuth, Elevation, a motor 11, 12 and 13 for moving the Roll direction, and a target for mounting equipment corresponding to the sensor device to be mounted, is configured an automatic positioning device of the visual axis adjustment target. Thereby, the axis target 21 can be automatically matched with the axis without requiring the operator to finely adjust the position of the axis target 21 manually.

  DESCRIPTION OF SYMBOLS 1 Laser intensity adjustment part, 2 Laser light source, 3 Light receiver, 4 Detection circuit, 5 Flashing frequency determination part, 6 Laser intensity determination part, 7 Light receiving position determination part, 8 Laser position calculation part, 9 Movement amount and direction calculation part, DESCRIPTION OF SYMBOLS 10 Drive control part, 11 Motor (Azimuth direction), 12 Motor (Elevation direction), 13 Motor (Roll direction), 14 Laser beam generator, 15 Target, 21 Axes target, 22 Onboard equipment target (target board)

Claims (2)

A laser emitting device that is arranged on a base axis of a mounted device in which a sensor device having a visual axis is installed, and outputs a cross-shaped laser beam;
A target board that provides a reference axis for aligning the visual axis of the sensor device, a light receiver that is fixed to the target board and in which a plurality of light receiving elements are arranged in a cross shape, and a laser beam received by the light receiver Based on the position of the light receiving element, a laser position calculation unit for determining the position of the laser light irradiated on the light receiver, and the position of the laser light irradiated on the light receiver calculated by the laser position calculation unit and the light receiver A visual axis adjustment target having a drive control unit that moves the position of the light receiver together with the target board so as to eliminate deviation,
A device for automatically adjusting the position of a visual axis adjustment target. The laser position calculation unit obtains the rotation angle of the laser light irradiated to the light receiver relative to the light receiver based on the position of the light receiving element that has received the laser light in the light receiver,
2. The visual axis adjustment target according to claim 1, wherein the drive control unit includes a drive control unit that rotates the position of the light receiver together with the target board based on the rotation angle obtained by the laser position calculation unit. Automatic positioning device.

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