JP3135364B2 - Measuring device for posture and 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 providing an apparatus for remotely measuring a dimensional position.

[0002]

2. Description of the Related Art Conventionally, the attitude and position of a moving object moving along a three-dimensional path, such as a vehicle traveling on an irregular road surface, a ship navigating on a wave sea surface, or a special flying object, at each time point, is known. There is a need for a method / apparatus for remote recognition, such as "Method of measuring the position and orientation of a moving object used in a laser lighthouse" (Journal of the Robotics Society of Japan, Vol. 2, No. 6, page 53, 1984). Papers have been published.

In this method, a turning laser beam transmitted from a certain reference point is received by three optical sensors, and a position and a traveling direction on a laser turning plane are measured from only the three light receiving time information. Was.

[0004]

However, in the case of the conventional method as described above, for example, when the attitude / position control or the like of each of these moving objects is required at each point in time for the purpose of application, the moving object cannot be used. Not only is it impossible to measure the vertical position (height), pitching angle or rolling angle, etc., but also when the moving object has a finite pitching angle or rolling angle, The current position and traveling direction (heading angle) could not be measured correctly.

The present invention has been made in view of the above-described aspects, and has a relatively simple structure and can provide all three-dimensional information relating to a posture / position of a moving object of this kind, for example, a heading angle, a pitching angle, and the like. It is an object of the present invention to provide means capable of measuring a rolling angle, a three-dimensional height position, and the like.

[0006]

According to the present invention, there is provided in the present invention, a laser transmitting means for transmitting a laser beam at a constant angular velocity by installing this kind of moving object attitude and position measuring device at one reference point. And a signal transmitting means for outputting an omnidirectional signal when the laser light is transmitted in a specific direction, and laser irradiation time information arranged in parallel on different planes on a moving object to be measured. At least three line-shaped optical sensors for outputting a signal including at least three optical sensors arranged along at least three planes formed by any two of the optical sensors, and being non-parallel to each of these optical sensors. At least three line-type optical sensors for outputting a signal including the laser irradiation time information, receiving means for receiving the omnidirectional signal, and the at least six line-type optical sensors. Each time measuring means for measuring the difference between the reception time of at least six light reception times and the omnidirectional signal from the power of the sensor; and the three-dimensional position and attitude data of the moving body from these at least six light reception times. It is intended to achieve the above-mentioned object by providing a calculation means for calculating the above.

[0007]

According to the apparatus configuration of the present invention as described above, it is possible to measure the posture / position of the target moving body at each time, for example, six degrees of freedom such as a heading angle, a pitching angle, and a rolling angle. Complete three-dimensional attitude / position control information can be obtained.

[0008]

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 a traveling vehicle traveling on an uneven ground G, and 11 turns on a plane at a constant angular velocity provided at a measurement reference point on the ground G. Laser transmitting device for transmitting laser light 19, 13
Is a signal transmitting device (transmitter) for generating a non-directional radio signal from the optical sensor 14 when the optical sensor 14 is directed in a certain reference direction and crosses the reference direction.

On the other hand, a receiver 15 (15a indicates its antenna) for receiving the omnidirectional radio signal is provided on the mobile unit 12. 16, 17, 18
Three line-type optical sensors capable of outputting a signal including reception time information of the irradiation laser light, which are arranged in parallel with each other and at the same height vertically to the moving body 12 so as not to be on the same plane. 20, 21 and 22 are arbitrary two optical sensors 16 and 17, 17 and 18, and 18 and 1 respectively.
6 are three line-type optical sensors which are arranged in an N-shape so as not to be in parallel with the optical sensors 16, 17, 18 on each plane formed by 6 and which can output signals including light receiving time information.
Each of these line-type optical sensors is constituted by an optical sensor array or a single long optical sensor.

FIG. 2 is a block diagram of the signal processing means provided on the moving body 12, and FIG. 3 is an example of a timing chart of each signal waveform of the signal processing means. In FIG. 2, 25 is a processing circuit for a signal received from the antenna 15a of the receiver 15, and 29 is an output signal thereof. 26,
27, 28, 30, 31, and 32 are each optical sensor 1
Output signal processing circuits from 6, 17, 18, 20, 21, 22 and 36, 37, 38, 40, 41, 42 are signals representing the light receiving times of the respective optical sensors 16, 17, 18, 20, 21, 22. , 46, 47, 48, 50, 51 and 52 are six timers as respective time measuring means. Reference numeral 60 denotes a CPU for arithmetically processing these signals.

(Operation) When the line type optical sensors 16, 17, 18, 20, 21, 22 sequentially receive the turning laser beam 19 of FIG. 1 on the moving body 12, the respective signal processing circuits 26, 27, The light-receiving time signals 36, 37, 38, 40, 41, and 42 are converted to light-receiving time signals 28, 30, 31, and 32, respectively. The receiver 15 is connected to the transmitter 13 by an antenna 15a.
Receiving the omnidirectional radio signal from the
5, and immediately outputs a pulse signal 29.

Each of the light receiving time signals 36, 37, 38, 40,
Each time interval t ₀ between 41, 42 and the radio reception time signal 29,
t ₁ , t ₂ , t ₃ , t ₄ , and t ₅ are measured by timers 46, 47, 48, 50, 51, and 52, respectively, and converted into digital signals. These six digital signals are arithmetically processed by the CPU 60 and converted into three position coordinate information (γ, θ, z) and three attitude information of the moving body 12, that is, a heading angle φ, a pitching angle σ, and a rolling angle ρ. Is done.

FIG. 4 shows the measuring system (FIG. 1).
FIG. 2 shows a positional relation explanatory view as viewed from the side, where O is a laser transmitter 11;
Position of the moving body 12 at the base of the optical sensor 16
S₀Is defined. Turning laser light from laser transmitter 11
Each optical sensor on the moving body 12 is defined as
16, 17, 18, 20, 21, and 22 laser receiving positions
To R₀ , R₁ , R_Two , R_Three , R_Four , R_Five ,It
The root positions of₀ , S₁ , S_Two , S
_Three , S_Four , S_Five (S in FIG. 4₀ = S_Five , S₁ = S _Three , S
_Two = S_Four From the reference position direction.
The light receiving position R₀ , R₁ , R_Two , R_Three , R_Four , R_Five Anticipate
Angle is θ₀ , Θ₁ , Θ_Two , Θ _Three , Θ_Four , Θ
_Five , Θ₆ Then, they are θ_i = Ωt_i (I = 0, 1, 2,... 5) (1) In addition, between each optical sensor 16,17,18
Are defined as a, b, and c as shown in FIG.
The laser light receiving position intervals are A, B, and C. In many cases,
Since the relationship of r >> a, b, c is satisfied,
Only consider the case. Coordinate system fixed on moving body 12
At (X, Y, Z), each root portion position S ₀ , S₁ ,
S_Two Coordinates of S₀ : (X₀ , Y₀ , 0) S₁ : (X₁ , Y₁ , 0) S_Two : (X_Two , Y_Two , 0) (2). In addition, each laser receiving position R₀ To R_Five Ma
The coordinates at R_i : (Ξ_i , Η_i , Ζ_i ) (I = 0,1,2, ...)
5)₁ , Ζ_Two , Ζ_Three Ask for. Each light center
The heights of the mobile units 16, 17, and 18 are the same from the mobile unit 12.
垂直_i = X_i (I = 0, 1, 2) η_i = Y_i (I = 0, 1, 2) (3)

At this time, each of the laser receiving positions R ₃ , R ₄ ,
Coordinates of R ₅ are each _{R 3: (X 0 + {} (θ 3 -θ 0) / (θ 1 -θ 0)} (X 1 -X 0), Y 0 + {(θ 3 -θ 0) / (Θ ₁ −θ ₀ )｝ (Y ₁ −Y ₀ ), L + ｛(θ ₃ −θ ₀ ) / (θ ₁ −θ ₀ )｝ L) R ₄ : (X ₁ + ｛(θ ₄ −θ) ₁ ) / (θ ₂ −θ ₁ )｝ (X ₂ −X ₁ ), Y ₀ + {(θ ₄ −θ ₁ ) / (θ ₂ −θ ₁ )} (Y ₂ −Y ₁ ), L + {( θ ₄ −θ ₁ ) / (θ ₄ −θ ₁ )｝ L) R ₅ : (X ₂ + {(θ ₅ −θ ₂ ) / (θ ₀ −θ ₂ )} (X ₀ −X ₂ ), Y _{0 + {(θ 5 -θ 2} ) / (θ 0 -θ 2)} (Y 0 -Y 2), L + {(θ 5 -θ 2) / (θ 0 -θ 2)} L) (4) And ξ _i , η _i , ζ _i (i = 3, 4, 5) are obtained.

When the plane formed by the laser receiving positions R ₃ , R ₄ and R ₅ is sX + tY + uZ = 1, s, t and u are

[0017]

(Equation 1)

Is required.

Using s, t, and u, ζ ₀ , ζ ₁ , ζ ₂
Are obtained as ζ _i = (1−sX _i −tY _i ) / u (i = 0, 1, 2) (6).

[0020]_i Using the same applicant as the present application
The same as that disclosed in Japanese Patent Application No. 4-66942.
Algorithm (detailed description is omitted)
Netting part position vector OS₀ , OS₁ , OS_Two (= O
S_Three , OS_Four , OS_Five )
The posture of the moving body 12 is determined by the respective point coordinates S
₀ , S₁ , S_Two Can be determined uniquely, and
The heading angle φ, pitching angle σ and b
Is converted to the ringing angle ρ, the space of the moving body 12 is obtained.
The position and orientation above can be completely determined.

In this embodiment, since the complete three-dimensional attitude / position information of the moving body 12 as described above can be obtained,
For example, it can be effectively applied to a surveying robot for civil engineering, navigation control of a ship, and the like.

[0022]

As described above, according to the measuring system of the present invention, the current three-dimensional posture / position of a target moving object, for example, the measurement of six degrees of freedom such as a heading angle, a pitching angle, and a rolling angle. And complete attitude / position control information of the moving body can be obtained.

[Brief description of the drawings]

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

FIG. 2 is a block diagram of a signal processing means on a moving object.

FIG. 3 is a timing chart of each signal waveform.

FIG. 4 is a top view illustrating the positional relationship of FIG. 1;

[Explanation of symbols]

REFERENCE SIGNS LIST 11 laser transmitting device 12 moving body 13 signal transmitting device 14 optical sensor 15 receiver 16, 17, 18, 20, 21, 22 each line-shaped optical sensor 19 rotating laser light 25, 26, 27, 28, 30, 31, 32 Each signal processing circuit 29 Receiving time signal 36, 37, 38, 40, 41, 42 Receiving time signal 46, 47, 48, 50, 51, 52 Timer 60 CPU

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) G01S 5/16 G01C 15/00 G05D 1/02

Claims (1)

(57) [Claims] 1. A laser transmitting means installed at one reference point for transmitting laser light at a constant angular velocity, and a signal transmitting means for outputting an omnidirectional signal when the laser light is transmitted in a specific direction. And at least three line-type optical sensors for outputting signals including laser irradiation time information disposed in parallel on different planes on the moving object to be measured, and any two of these optical sensors At least three line-shaped optical sensors for outputting signals including laser irradiation time information, which are respectively provided in a non-parallel manner with respect to each of these optical sensors along at least three planes constituted by: Receiving means for receiving a directional signal, and from the outputs of the at least six line-type optical sensors,
Time measuring means for measuring a difference between at least six light receiving times and the omnidirectional signal, and an operation for calculating three-dimensional position and attitude data of the moving body from the at least six light receiving times Means for measuring a posture and a position of a moving body.