JP2601672B2 - Laser light receiving device - Google Patents
Laser light receiving deviceInfo
- Publication number
- JP2601672B2 JP2601672B2 JP62331694A JP33169487A JP2601672B2 JP 2601672 B2 JP2601672 B2 JP 2601672B2 JP 62331694 A JP62331694 A JP 62331694A JP 33169487 A JP33169487 A JP 33169487A JP 2601672 B2 JP2601672 B2 JP 2601672B2
- Authority
- JP
- Japan
- Prior art keywords
- light receiving
- laser light
- receiving device
- signal
- laser
- 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 - Lifetime
Links
Landscapes
- Operation Control Of Excavators (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Description
【発明の詳細な説明】 （産業上の利用分野） 本発明は土木作業現場での作業車両や工場内での台
車、港湾での船舶等に搭載され、所定の位置に設けられ
た投光器から投光されるレーザ光を受光して作業車両等
の測位に使用されるレーザ光受光装置に関するものであ
る。DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention is mounted on a work vehicle at a civil engineering work site, a bogie in a factory, a ship at a harbor, and the like, and is projected from a floodlight provided at a predetermined position. The present invention relates to a laser light receiving device that receives a laser beam emitted and is used for positioning a work vehicle or the like.
（従来の技術） 従来のレーザ光受光装置は第４図に示す様なものがあ
り、鉛直方向に整列して配置されている複数の受光素子
301のうちレーザ光を受光した受光素子301が電気信号を
発信し、この信号を増幅器で増幅し外部の機器に送って
いた。(Prior Art) There is a conventional laser light receiving device as shown in FIG. 4, in which a plurality of light receiving elements arranged in a vertical direction are arranged.
Of the 301, the light receiving element 301 that has received the laser beam transmits an electric signal, and the signal is amplified by an amplifier and sent to an external device.
（発明が解決しようとする問題点） しかし、上記従来のレーザ光受光装置は受光素子301
にそれぞれ外部の機器と接続する信号線が必要であり信
号線が増えてしまう問題点があった。(Problems to be Solved by the Invention) However, the above-described conventional laser light receiving device is not
However, there is a problem in that a signal line for connecting to an external device is required, and the number of signal lines increases.
（問題点を解決するための手段・作用） 本発明は上記問題を解決するためにレーザ投光器より
投光されるレーザ光を受信するレーザ受光装置を前後に
２台搭載した土木作業車両の傾斜を測定するレーザ受光
装置において、該レーザ受光装置で受信された信号を前
記レーザ受光装置に搭載されたワンチップCPUにてシリ
アルデータに変換するとともに、前記ワンチップCPUが
伝達する電気信号中に前方の受光装置には「１」、後方
のレーザ受光装置には「０」または、前方のレーザ受光
装置には「０」、後方のレーザ受光装置には「１」の信
号を設定することにより２台のレーザ受光装置のいずれ
のレーザ受光装置の信号かを区別できるようにしたこと
を特徴とするレーザ受光装置とした。(Means and Actions for Solving the Problems) In order to solve the above-mentioned problems, the present invention is to reduce the inclination of a civil engineering work vehicle equipped with two laser receiving devices that receive a laser beam emitted from a laser projector. In the laser light receiving device to be measured, a signal received by the laser light receiving device is converted into serial data by a one-chip CPU mounted on the laser light receiving device, and a forward signal is included in an electric signal transmitted by the one-chip CPU. Two signals are set by setting the signal to "1" for the light receiving device, "0" for the rear laser light receiving device, "0" for the front laser light receiving device, and "1" for the rear laser light receiving device. The laser light receiving device is characterized in that it is possible to distinguish which of the laser light receiving devices is the signal of the laser light receiving device.
（実施例） 以下、この発明を添付図面を参照して説明する。第１
図は土木車輌101にレーザ光受光装置102を搭載して水平
面に回転してレーザ光を照射する投光器103のレーザ光1
04を受けて、地面の凹凸の具合を知ろうとする場合の概
念図である。土木車輌101は地面の凹凸の具合により上
下に変動する。Hereinafter, the present invention will be described with reference to the accompanying drawings. First
The figure shows a laser beam 1 from a projector 103 that mounts a laser beam receiving device 102 on a civil engineering vehicle 101 and radiates the laser beam while rotating in a horizontal plane.
It is a conceptual diagram in the case of receiving 04 and trying to know the degree of unevenness of the ground. The civil engineering vehicle 101 fluctuates up and down depending on the unevenness of the ground.
これに付随して土木車輌101に搭載されたレーザ光受
光装置102も上下に変動する。Along with this, the laser light receiving device 102 mounted on the civil engineering vehicle 101 also moves up and down.
レーザ光受光装置102が上下に変動すると投光器103か
ら水平に投光されるレーザ光104はレーザ光受光装置102
が受光する位置が変動し、受光する位置を計測すること
により地面の凹凸の具合を計測することができる。When the laser light receiving device 102 moves up and down, the laser light 104 emitted horizontally from the light emitting device 103
The position at which the light is received fluctuates, and by measuring the position at which the light is received, the degree of unevenness on the ground can be measured.
第２図はこの発明のレーザ光受光装置の外観概略図を
示す。FIG. 2 is a schematic view showing the appearance of the laser light receiving device of the present invention.
第２図において、レーザ投光器に対してあらゆる方向
にあっても受光できるように例えば正四角柱の支柱201
の４面に固定された基板202の上に鉛直方向に整列して
受光素子203が配置されている。In FIG. 2, for example, a column 201 of a square prism so as to be able to receive light in all directions with respect to the laser projector.
Light receiving elements 203 are arranged on a substrate 202 fixed to the four surfaces in a vertically aligned manner.
そして、下から数えて同じ順番にある受光素子（例え
ば下から５番目の受光素子T5′、T5″、T5、T5′但
しT5、T5′は図示してない）は同じ高さの位置に配
置されて、それぞれ並列に接続されている。The light receiving elements in the same order counted from the bottom (for example, the fifth light receiving element T 5 ′, T 5 ″, T 5 , T 5 ′ from the bottom, where T 5 and T 5 ′ are not shown) are the same. They are arranged at the height and connected in parallel.
204は信号処理基板で受光素子203からの電気信号を増
巾器と波形整形してデジタル信号とする電圧比較器、２
進数に変換する２進変換器、受光している位置を示す表
示器およびワンチップCPUが装着されている。Reference numeral 204 denotes a signal processing board, which is a voltage comparator which shapes the electric signal from the light receiving element 203 into a digital signal by using an amplifier and a waveform comparator.
A binary converter for converting to a decimal number, a display indicating a light receiving position, and a one-chip CPU are mounted.
第３図は受光素子203の発信する信号処理のブロック
図である。FIG. 3 is a block diagram of the signal processing transmitted by the light receiving element 203.
受光素子203は本実施例の場合はT1からT10まで10個鉛
直方向に整列している場合である。The light receiving element 203 in the case of the present embodiment is a case where aligned into 10 vertically from T 1 to T 10.
受光素子203からの電気信号は増幅器205で増幅され、
電圧比較器206で波形整形されデジタル信号となる。The electric signal from the light receiving element 203 is amplified by the amplifier 205,
The waveform is shaped by the voltage comparator 206 to be a digital signal.
波形整形された電気信号は進変換器207でどの受光素
子203にレーザ光が当っているかを２進数に変換し、ワ
ンチップCPU208に送られる。The waveform-shaped electric signal is converted to a binary number by a decimal converter 207 to determine which light receiving element 203 is irradiated with the laser light, and is sent to the one-chip CPU 208.
この実施例では８ビットのワンチップCPUを使用して
いるので、受光素子203T1からT10まで10本の信号線を直
接ワンチップCPU208の入力端子に接続できないので、２
進変換器207により受光素子203の受光位置を２進数に変
換した。Because it uses 8-bit one-chip CPU in this embodiment, it can not be connected to the input terminal of the 10 signal lines from the light receiving element 203T 1 to T 10 directly one-chip CPU 208, 2
The light receiving position of the light receiving element 203 was converted into a binary number by the decimal converter 207.
ワンチップCPU208ではシリアルデータに変換し外部機
器の端末に信号を転送すると共に受光位置を表示器209
に表示する構成となっている。The one-chip CPU 208 converts the data to serial data, transfers the signal to the terminal of the external device, and displays the light receiving position on the display 209.
Is displayed.
以上の様な構成で図示されていない投光器より投光さ
れたレーザ光を例えば８番目の受光素子T8が受光すると
８番目の受光素子T8の発信する電気信号は増幅器205で
増幅され電圧比較器206で波形整形されデジタル信号に
変換される。Electrical signal transmitted in the above when such a configuration of the projected has been, for example, 8-th laser beam from the projector (not shown) by the light receiving element T 8 is received eighth light receiving element T 8 are voltage comparison is amplified by an amplifier 205 The waveform is shaped by the unit 206 and converted into a digital signal.
デジタル信号に変換された信号（10進数の８の数値）
は２進変換器207で２進数の1000に変換されてワンチッ
プCPU208に送られる。Signal converted to digital signal (decimal number 8)
Is converted into a binary number 1000 by a binary converter 207 and sent to the one-chip CPU 208.
ワンチップ208は送られた受光している位置を表わし
ているデータの電気信号をある一定時間内のデータを平
均化するなどの演算処理を行って表示器209に表示する
とともにシリアルデータに変換して外部機器に送る。The one-chip 208 performs arithmetic processing such as averaging data within a certain period of time on the transmitted electric signal of the data indicating the light receiving position, displays the same on the display 209, and converts it into serial data. To an external device.
以上説明した実施例では土木車輌に１台のレーザ受光
装置を搭載した例について説明したが、土木車輌の前後
に各一台づつ２台搭載して、土木作業現場の所定の位置
にレーザ投光器を設置して、該投光器から土木車輌の前
方および後方のレーザ受光装置に投光し、土木車輌の前
後方向の傾斜を測定する場合がある。この場合は、例え
ば前方のレーザ受光装置のワンチップCPU8が伝送する電
気信号の８桁目を１、後方をレーザ受光装置をワンチッ
プCPU8が伝送する電気信号の８桁目を０の信号に予め設
定しておくことにより、信号を区別することができる。In the embodiment described above, an example was described in which one laser light receiving device was mounted on a civil engineering vehicle, but two lasers were mounted one each before and after the civil engineering vehicle, and a laser projector was placed at a predetermined position on the civil engineering work site. In some cases, the light is emitted from the projector to the laser receiving devices in front of and behind the civil engineering vehicle to measure the inclination of the civil engineering vehicle in the front-rear direction. In this case, for example, the eighth digit of the electric signal transmitted by the one-chip CPU 8 of the front laser light receiving device is set to 1 and the eighth digit of the electric signal transmitted by the one-chip CPU 8 to the rear is set to 0. By setting, signals can be distinguished.
（発明の効果） 以上を述べたように、この発明によれば２面以上の受
光面が受光した信号をワンチップCPUでシリアルデータ
に変換し、前記２面以上の受光面の受光高さを同時に計
測するので、外部機器と１対の信号線で接続でき、ま
た、ブルドーザの前方からのレーザ光を受けた受光面の
高さと、ブルドーザの後方はからのレーザ光を受けた受
光面の高さとの差によりブルドーザの前後方向の傾きを
求めることができ、この傾きに応じた土工板の上げ、下
げの操作を行うことができる。(Effects of the Invention) As described above, according to the present invention, a signal received by two or more light receiving surfaces is converted into serial data by a one-chip CPU, and the light receiving height of the two or more light receiving surfaces is changed. Since measurement is performed simultaneously, it can be connected to an external device with a pair of signal lines. Also, the height of the light receiving surface that received the laser light from the front of the bulldozer and the height of the light receiving surface that received the laser light from the back of the bulldozer The inclination of the bulldozer in the front-back direction can be obtained from the difference between the bulldozer and the earthwork board, and the operation of raising and lowering the earthwork board according to the inclination can be performed.
第１図は土木車輌にレーザ光受光装置を搭載した場合を
示す概念図、第２図はこの発明のレーザ光受光装置の外
観概念略図、第３図は受光素子の発信する信号処理のブ
ロック図、第４図は従来のレーザ光受光装置を示す図で
ある。 図中103はレーザ投光器、104はレーザ光、203は受光素
子、206は電圧比較器、207は２進変換器、208はワンチ
ップCPUである。FIG. 1 is a conceptual diagram showing a case in which a laser light receiving device is mounted on a civil engineering vehicle, FIG. 2 is a schematic diagram showing the external appearance of the laser light receiving device of the present invention, and FIG. 3 is a block diagram of signal processing transmitted from a light receiving element. FIG. 4 is a view showing a conventional laser light receiving device. In the figure, 103 is a laser projector, 104 is a laser beam, 203 is a light receiving element, 206 is a voltage comparator, 207 is a binary converter, and 208 is a one-chip CPU.
Claims (1)
信するレーザ受光装置を前後に２台搭載した土木作業車
両の傾斜を測定するレーザ受光装置において、該レーザ
受光装置で受信された信号を前記レーザ受光装置に搭載
されたワンチップCPUにてシリアルデータに変換すると
ともに、前記ワンチップCPUが伝達する電気信号中に前
方の受光装置には「１」、後方のレーザ受光装置には
「０」または、前方のレーザ受光装置には「０」、後方
のレーザ受光装置には「１」の信号を設定することによ
り２台のレーザ受光装置のいずれのレーザ受光装置の信
号かを区別できるようにしたことを特徴とするレーザ受
光装置。A laser light receiving device for measuring the inclination of a civil engineering work vehicle having two laser light receiving devices for receiving a laser beam projected from a laser light emitting device, the signal received by the laser light receiving device. The one-chip CPU mounted on the laser receiving device converts the data into serial data, and the electric signal transmitted by the one-chip CPU has “1” for the front light receiving device and “0” for the rear laser light receiving device. Or, by setting a signal of "0" for the front laser light receiving device and a signal of "1" for the rear laser light receiving device, it is possible to distinguish which of the two laser light receiving devices is the signal of the laser light receiving device. A laser light receiving device characterized in that:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62331694A JP2601672B2 (en) | 1987-12-26 | 1987-12-26 | Laser light receiving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62331694A JP2601672B2 (en) | 1987-12-26 | 1987-12-26 | Laser light receiving device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH01170807A JPH01170807A (en) | 1989-07-05 |
| JP2601672B2 true JP2601672B2 (en) | 1997-04-16 |
Family
ID=18246537
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP62331694A Expired - Lifetime JP2601672B2 (en) | 1987-12-26 | 1987-12-26 | Laser light receiving device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2601672B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106556381A (en) * | 2015-09-28 | 2017-04-05 | 苏州亿帝电子科技有限公司 | Laser pickoff |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011237253A (en) * | 2010-05-10 | 2011-11-24 | Naomasa Nitta | Light receiver |
| JP2020169921A (en) * | 2019-04-04 | 2020-10-15 | 株式会社トプコン | Surveying robot and surveying robot system |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5271265A (en) * | 1975-12-11 | 1977-06-14 | Komatsu Mfg Co Ltd | Leveling system with modulated laser |
| DE3512708C1 (en) * | 1985-04-09 | 1991-04-18 | Nestle & Fischer, 7295 Dornstetten | Optoelectronic measuring stick |
| JPS6230911U (en) * | 1985-08-09 | 1987-02-24 | ||
| JPH0721537B2 (en) * | 1986-03-28 | 1995-03-08 | 株式会社小松製作所 | Vehicle three-dimensional position measuring device |
| JPH0781858B2 (en) * | 1986-05-21 | 1995-09-06 | 株式会社小松製作所 | Vehicle position and attitude angle measuring device |
-
1987
- 1987-12-26 JP JP62331694A patent/JP2601672B2/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106556381A (en) * | 2015-09-28 | 2017-04-05 | 苏州亿帝电子科技有限公司 | Laser pickoff |
| CN106556381B (en) * | 2015-09-28 | 2020-01-14 | 苏州亿帝电子科技有限公司 | Laser receiver |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH01170807A (en) | 1989-07-05 |
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