JP3107651B2 - Measuring device for posture and three-dimensional position of moving object - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention
The present invention relates to an apparatus for measuring a dimensional position.

[0002]

2. Description of the Related Art Conventionally, Japanese Patent Application No. 4-66942 discloses a method for measuring the attitude and the three-dimensional position of a moving object such as a traveling vehicle, a ship, or a special flying object. In this proposal, light-receiving time information obtained by receiving turning laser light emitted from one reference point by at least three line-type sensors and light-receiving position information on the optical sensors obtained from outputs from these optical sensors are used. The attitude and the three-dimensional position of the moving body were measured.

[0003]

However, according to the above-mentioned conventional proposal, when the surface on which the moving body moves is relatively uneven, for example, on uneven terrain or a high sea surface, etc. When the turning laser light deviates from the light receiving section of the line-type optical sensor, it becomes impossible to measure the posture and the three-dimensional position of the moving body.

The present invention has been made in view of the above-described problems, and enables the measurement even when the ground on which a moving object moves has relatively large undulations, gradients, or the like. It is intended to provide such a measuring device.

[0005]

Therefore, according to the present invention, this kind of moving object attitude and three-dimensional position measuring device is installed at one reference point and emits laser light at a substantially constant turning angular velocity. A laser transmitting means for transmitting, a signal transmitting means for outputting an omnidirectional signal when the laser light is transmitted in a specific direction, and the laser light irradiating position mounted on a moving object to be measured. And at least three optical sensors for outputting a signal including information on irradiation time, receiving means for receiving the non-directional signal, and a light receiving position on each optical sensor based on an output from the optical sensor. Signal processing means for determining the difference between the laser light receiving time of each of the optical sensors and the reception time of the omnidirectional signal, at least three time measuring means, the time information, Location information Calculating means for calculating the posture and three-dimensional position of the moving body, a table for arranging the sensors at specific positions, a driving mechanism for vertically moving the table by a required distance, Control means for controlling a driving mechanism so that the laser light does not deviate from these sensors from the output of one of the optical sensors, and detecting means for detecting a height of the table from a reference position. With such a configuration, the above object is achieved and used.

[0006]

According to the configuration of the present invention as described above, the posture and the three-dimensional position of the moving body with six degrees of freedom can be measured. In addition, even when posture information such as a heading angle, a pitching angle, and a rolling angle is unnecessary, the position at each time can be accurately obtained regardless of the posture. Ideal for position recognition. In addition, since the height of the vertically moving table is controlled so that the turning laser light can be received at the center of each of the optical sensors, the measurement can be performed even on a moving surface having a relatively uneven surface or a relatively large gradient.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below based on embodiments. FIG. 1 is a schematic explanatory diagram of one embodiment of this type of measurement system according to the present invention. This diagram is a diagram viewed from a direction parallel to a laser beam turning surface described later.

(Construction) 12 is a moving body such as an uneven terrain vehicle traveling on an irregular ground G, and 11 is a plane at a substantially constant angular velocity ω disposed at one measurement reference point on the ground G. A laser transmitting device for transmitting a laser beam 19 turning upward, 14 is an optical sensor arranged in a certain reference direction, and 13 is a laser sensor in a certain direction. A signal generator 13a for generating a non-directional radio signal by the optical sensor 14, and 13a is its transmitting antenna.

On the other hand, a receiver (not shown) for receiving the omni-directional signal and an antenna 15a as a sensor are provided on the moving body 12, and A vertical movement table 20 is provided in parallel with at least three linear sensors 16,
17 and 18 are arranged so as not to be on a straight line with each other, and the reception time (t
₀ , t ₁ , t ₂ ) and the light receiving position (ζ ′ ₀ , ζ ′ ₁ , ζ ′ ₂ ), as shown in FIG. Each optical sensor 1
6, 17 and 18, each signal processing circuit 35, 36, 3
7. Each of the timers 42, 43, and 44 as time counting means and the CPU 51 and the like as arithmetic means are provided.

FIG. 3 is a vertical sectional view of a drive mechanism for vertically moving the vertical movement table 20 by a required distance. The vertically moving table 20 is supported by a vertical shaft 23 having a ball screw groove,
1, the sleeve 24 is rotated via the gear 29, and the shaft 24 can be displaced upward / downward by being connected to the sleeve 24 by a ball screw mechanism. Reference numerals 32 and 33 denote rotation preventing shafts for preventing the vertically moving table 20 from rotating together with the sleeve 24. Reference numeral 22 denotes a detector for detecting the amount of up / down movement Z from the reference position of the table 20.

Each of the line type sensors 16, 17, 18 includes an optical position detecting element (PSD), an optical sensor array, and the like.
Is configured to be able to output a signal including movement information from the reference position. Examples of the detection means include a rotary encoder for measuring the rotation angle of the motor 21.

(Operation) Next, the operation will be described with reference to FIGS. 1 to 3 and FIG. 4 showing an example of an output signal waveform diagram from the signal processing device of FIG. Each line type optical sensor 16,
The turning laser light 19 sequentially incident on the light receiving elements 17 and 18 passes through respective signal processing circuits 35, 36 and 37, and receives light receiving time signals 39, 40 and 41, and light receiving signal position signals 45 and 45 on each line sensor. 46 and 47. On the other hand, the omnidirectional radio signal from the antenna 13a
As soon as it is received at 5a and input to the processing circuit 34, a pulse signal 38 is generated. Each light reception time signal 39, 4
₀ , 41 and each time interval t ₀ ,
t ₁ and t ₂ are the respective timers 4 as time measuring means.
At 2, 43, and 44, they are measured and converted into digital signals, respectively.

On the other hand, laser light receiving position information 45, 46,
47 is converted into a voltage proportional to each of the light receiving positions ζ ′ ₀ , ζ ′ ₁ , ζ ′ ₂ by the signal processing circuits 35, 36, and 37, and converted into digital signals by A / D converters 48, 49, 50, respectively. Converted to a signal. The light receiving position signal 45 from the line type optical sensor 16 indicates the height (movement amount Z) of the vertical movement table 20 and the turning laser light 19 indicates the optical sensor 16.
Of the vertical movement table 20 is determined by the control circuit 52, and the motor driver 53 is instructed to drive and control the motor 21. Counter 5 from 22
In step 4, the amount of movement of the vertical movement table 20 is measured. These seven digital signals are calculated / processed by the CPU 51 to obtain three pieces of coordinate information (r, θ, z) of the moving body 12.
And three pieces of posture information, that is, a heading angle, a pitching angle, and a rolling angle (φ, σ, ρ).

(Calculation of position / posture)
An arithmetic expression for obtaining each amount of the posture information will be described. FIG.
FIG. 7 shows a geometrical example of the turning laser beam 19 and the line-shaped optical sensors 16, 17, and 18 on the vertically moving table 20, viewed from a direction perpendicular to the laser turning surface. R ₀ , R ₁
, R ₂ are the laser light receiving positions of the respective optical sensors 16, 17, 18, and S ₀ , S ₁ , S ₂ are the positions of the points where the lines extending the center lines of the respective optical sensors intersect with the upper surface of the moving body 12. Is shown.
O is the position of the turning laser transmission device 11 in FIG.

The rotational angular velocity of the laser beam 19 is ω, and the angles that allow R ₀ , R ₁ , and R ₂ from the reference direction are θ ₁ ,
Assuming θ ₁ and θ ₂ , they are expressed as θ ₀ = ωt ₀ (1) θ ₁ = ωt ₁ (2) θ ₂ = ωt ₂ (3) Also, let Z be the moving amount of the vertical movement table 20, and ζ ₀ = Z + ζ ' ₀ (4) ζ ₁ = Z + ζ' ₁ (5) ζ ₂ = Z + ζ ' ₂ (6) As shown in FIG. 5, the intervals between the optical sensors are a, b, and c, and the intervals between the laser light receiving positions are A, B, and C.
A = (a ² + (ζ ₁ −ζ ₀ ) ² ) ^1/2 (7) B = (b ² + (ζ ₂ −ζ ₀ ) ² ) ^1/2 (8) C = (C ² + (ζ ₂ −ζ ₁ ) ² ) ^1/2 (9), which can be immediately calculated from the measured values Z, ζ ′ ₀ , ζ ′ ₁ , ζ ′ ₂ .

Next, the coordinates of each laser light receiving position R ₀ , R ₁ , R ₂ are obtained using A, B, C obtained here;

[0017]

(Equation 1)

[0018]

(Equation 2)

[0019]

(Equation 3)

(Other Embodiments) In the above embodiment, the case where three line-type optical sensors are used has been described. However, the number of sensors used is not limited to this, and a plurality of sensors may be used. It does not matter. Also, it goes without saying that the displacement mechanism / driving means and the like of the vertical movement table 20 may be other modifications.

[0021]

As described above, according to the present invention, it is possible to measure the attitude and the three-dimensional position of this kind of moving object with six degrees of freedom, and to appropriately adjust the height of the vertical movement table. By performing the adjustment control, it is possible to follow and measure even a relatively large uneven surface or an inclined moving surface.

[Brief description of the drawings]

FIG. 1 is a schematic explanatory diagram of one embodiment of a measurement system.

FIG. 2 is a block diagram of a measurement system and a signal processing circuit on a moving object.

FIG. 3 is a vertical sectional view of a driving mechanism of a vertically moving table.

FIG. 4 is an example of an output signal waveform diagram from the signal processing device of FIG. 2;

FIG. 5 is an example of a geometrical arrangement of a turning laser beam and each optical sensor.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 11 Laser light transmission device 12 Moving body 13 Non-directional signal transmission device 16, 17, 18 Line type optical sensor 20 Vertical movement table 21 Motor 22 Vertical movement amount detector 34, 35, 36, 37 Signal processing circuit 38 Pulse signal 39 , 40, 41 Light receiving time signal 42, 43, 44 Timer 45, 46, 47 Light receiving position signal 51 CPU

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-6-27212 (JP, A) JP-A-62-232008 (JP, A) JP-A-62-179676 (JP, A) JP-A-63-1987 26525 (JP, A) JP-A-63-25508 (JP, A) JP-A-1-142014 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) G01S 5/16 G05D 1 / 02 G01C 15/00

Claims (1)

(57) [Claims] 1. A laser transmitting means installed at one reference point for transmitting laser light at a substantially constant turning angular velocity, and outputs an omnidirectional signal when the laser light is transmitted in a specific direction. Signal transmitting means for mounting, on the moving object to be measured, at least three optical sensors for outputting a signal including information of the laser light irradiation position and irradiation time, and the omnidirectional signal Receiving means for receiving, signal processing means for obtaining a light receiving position on each optical sensor from an output from the optical sensor, laser light receiving time of each optical sensor, and receiving time of the omnidirectional signal At least three time-measuring means for measuring the difference between the two, a time-measuring information, a calculating means for calculating the posture and the three-dimensional position of the moving body from the laser receiving position information, Place in position A driving mechanism for moving the table up and down by a required distance, and a driving mechanism for controlling the driving mechanism so that the laser light does not deviate from these sensors from the output of one of the optical sensors. A posture and three-dimensional position measuring device for a moving body, comprising: a control means; and a detecting means for detecting a height of the table from a reference position.