JP2716795B2 - Moving object position measurement system - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a software algorithm for measuring a position of a moving object such as an automatic guided vehicle at the time of starting.

[Conventional technology]

As shown in FIG. 4, the conventional position measurement system 1
The software algorithm is configured to input the x and y coordinate values 7 and the traveling direction 8 as initial input values at the time of initial startup.

Incidentally, this type of position measuring method is disclosed in Japanese Patent Laid-Open No. 60-1411.
No. 4 is known.

[Problems to be solved by the invention]

In the conventional position measuring system 1 as described above, as shown in FIG.
Is identified by the position measurement system 1 beforehand when identifying whether it is reflected back by the corner tubes 2 to 5 used for position measurement or returned by the reflection mirror 9 such as a window glass. Is entered by a human,
The angles θ ₁ 12, θ ₂ 13, θ ₃ 14, θ ₄ 15 at which the reflected light 11 of the laser beam 10 returns from the corner cubes 2 to 5 whose position coordinates are known from the current position 7 are obtained. Receives the reflected light 11 within the range of the error angle ε6, it is recognized as the reflected light 11 of the corner cubes 2 to 5, and the angle information θ ₁ 12,
Based on θ ₂ 13, θ ₃ 14, θ ₄ 15, the position of the position measuring system 1 is measured by the principle of triangulation. In accordance with the principle of triangulation, the position measuring system 1 rotates and scans the laser beam 10 emitted by itself,
The azimuth θ ₁ 12 of the corner tubes 2 to 5 with respect to the position measurement system 1 is detected by detecting the reflected light 11 of the laser beam emitted from the corner tubes 2 to 5 provided at at least three fixed positions away from the camera. detects the _{θ 2 13, θ 3 14,} θ 4 15, select any three azimuth from that performs position measurement. Also, as shown in FIG. 5, even if the incident light 19 is incident at any angle of the effective aperture 21 as shown in FIG. 5, the reflected light 20 is parallel to the incident light 19 from the surface of the corner cube and is directed in the opposite direction. It has the function of being reflected.

Therefore, in order to activate the conventional position measuring system 1, it is necessary to input the x, y coordinate values 7 and the traveling direction 8, and the actual moving area S is (several hundred meters) × (several tens meters). However, it is very difficult to accurately input x, y coordinate values up to 7 cm.

[Means for solving the problem]

In FIG. 1, the reflected light 11 and the disturbance light 16 of the corner cube are distinguished by the following method. As shown in FIG. 1, it is assumed that there is a reflection mirror 9 between the corner cube 3 and the corner cube 4. Here, the position measurement system 1 includes the corner cubes 2 to 5 and the reflection mirror 9.
The three reflected lights are arbitrarily selected from among the five reflected lights, and the azimuth angle is obtained to calculate the temporary azimuth and position of the position measurement system 1.

In order to confirm whether the calculated tentative direction and position are true or false, the position measurement system 1 determines the azimuth at which the reflected light of the corner cube other than the selected corner cube returns. Since the position coordinates of the cube are known, the azimuth angle of the corner cube is calculated, the calculated azimuth angle has an allowable value of the error angle φ18, and the actually measured reflected light is returned from within the error angle φ18. If you come
The temporary orientation and position are determined to be true and stored.

Further, a provisional direction and position are calculated for all combinations of corner cubes and reflection mirrors, it is determined whether the values are true or false, and all the combinations of corner cubes that are true are stored. If the number of true corner / cube combinations is one, it is activated based on the azimuth and position obtained from the combination.
Corners other than those used for the combination
The azimuth and position are calculated by using the one with the smallest difference between the azimuth angle of the reflected light of the cube and the azimuth angle of the reflected light of the corner cube calculated from the temporary position as the optimum combination of the corner and cube. ,to start.

[Action]

Since the position measurement system according to the present invention is activated according to the procedure described in “Means for Solving the Problems”, the light initially recognized is the light returned from any corner cube as the initial input value. All you need to do is input the azimuth information in order to know if
There is no need to enter coordinate values.

〔Example〕

In FIG. 1, 1 is a position measuring system, 2 to 5 are corner cubes, 6 is an error angle ε, 7 is a position measuring system position, 8 is a position measuring system direction, 9 is a reflection mirror,
10 is a laser beam from the position measurement system 1, 11 is a corner
The reflected light of the cube, 12 is the angle between the traveling direction of the position measuring system and the reflected light from the corner tube 5, 13 is the angle between the traveling direction of the position measuring system and the reflected light from the corner tube 2, and 14 is the position. The angle between the measuring system and the reflected light of the corner cube 3 is 15 and the position measuring system and the corner
The angle formed by the reflected light of the tube 4, 16 is the reflected light from the reflecting mirror 9, the disturbance light, 17 is the reflected light from the corner tube 2, 18 is the error angle φ, 19 is the incident light, 20 is the reflected light, and 21 is the reflected light. Is an effective aperture, and S is a moving area.

In the figure, reference numeral 1 denotes a position measuring system which moves freely in an area S. The position measuring system 1 selects three of the corner cubes 2 to 5 and calculates the position 7 and the heading 8. If there is a reflection mirror 9 between the corner cubes 3 and 4, a temporary position and orientation are calculated by the corner cubes 3 and 4 and the reflection mirror 9, and the reflected light 17 of the corner cub 2 becomes an error angle. If it returns within the range of φ18, the position 7 is determined to be accurate, and the combination of the azimuth, position and corner / cube is stored.

Next, the position measurement system 1 uses the corner cubes 3,5.
Then, the position and direction are calculated by the reflection mirror 9 and it is similarly determined whether the position and direction are true or not. In this way, it is determined whether all combinations are true or false, and the true combinations, orientations, and positions are stored. In the case of this embodiment, the stored combinations are the corner cubes 3, 4, and 5, and the number of corner cubes for determining whether the combination is true or false is two. For example, if there are many corner cube combinations that are true,
Among the memorized corner / cube combinations, the difference between the calculated corner / cube azimuth angle and the calculated corner / cube other than the selected corner / cube is the smallest possible corner / cube combination. Is determined, the azimuth and the position are calculated based on the combination, and the program is started.

FIG. 2 shows an example of a flowchart of the start-up principle according to the present invention.

〔The invention's effect〕

A position measuring system for a moving body according to the present invention includes a light emitting unit and a light receiving unit that are installed on the moving body and perform rotational scanning, and a corner tube that is installed at three or more fixed positions around the moving body, The azimuth angle is obtained by arbitrarily selecting the three reflected lights, the temporary azimuth and position of the moving object are calculated, and then the azimuth angles of the corner kubes other than the selected corner kube are calculated and the actually measured azimuth angles are calculated. If the reflected light from the corner cube coincides with the calculated azimuth angle, the temporary azimuth and position are determined to be true and stored, and the start is performed while interfering with the disturbance light, so that the position is determined as the initial input value. It is possible to start up by inputting only the traveling direction of the measurement system, and the complexity of the initial setting is greatly improved.

[Brief description of the drawings]

FIG. 1 is a schematic layout diagram showing an embodiment of the present invention, FIG. 2 is a flowchart of the start-up principle of the present invention, FIG. 3 is a diagram of a conventional position measurement, FIG. FIG. 5 is a structural view of the corner cube. 1. Position measuring system, 2-5 ... Corner cube

 ──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Yoshiaki Sato 1-1-1, Wadasaki-cho, Hyogo-ku, Kobe City, Hyogo Prefecture Inside the Kobe Shipyard of Mitsubishi Heavy Industries, Ltd. (56) References JP-A-59-187214 (JP, A) JP-A-59-42410 (JP, A) JP-A-60-14114 (JP, A) JP-A-59-67476 (JP, A) 62-182616 (JP, A) Japanese Utility Model Showa 61-84810 (JP, U) JP-B 63-41489 (JP, B2)

Claims (1)

(57) [Claims] 1. A light emitting unit and a light receiving unit which are installed on a moving body and perform rotary scanning, and a corner tube which is installed at three or more fixed positions around the moving body, and arbitrarily select three reflected lights. Calculate the azimuth angle, calculate the temporary azimuth and position of the moving body, calculate the azimuth angle of the corner cube other than the selected corner cube, and calculate the reflected light from the actually measured corner cube. If the calculated azimuth angle coincides with the calculated azimuth angle, the temporary azimuth and position are determined to be true and stored, and the mobile unit is started while interfering with disturbance light, and is activated.