JP4326228B2 - Flight object position recognition method and position recognition system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a method and system for recognizing the position of an object flying in space.
[0002]
[Prior art]
Development of a solar power generation satellite that generates power using solar energy in outer space and converts the power into electromagnetic waves for transmission (for example, Non-Patent Document 1 below) has been studied. This kind of structure becomes very large, and if it is to be built manually in outer space, it requires equipment and an environment where hundreds of astronauts can work in outer space. poor. Therefore, it is preferable to unmanned work using a dedicated machine.
[0003]
One of these special machines is a free flying robot. This free-flying robot is a device that acts as an astronaut on behalf of the MMU, and uses its propulsive force to fly through space and connect between floating modules and access by rail-moving robots. It is possible to perform high-level work such as work in places where it cannot be performed, work that reciprocates over a long distance, and recovery of scattered members.
[0004]
[Non-Patent Document 1]
Kazuo Machida, “Robotics in Solar Power Satellite”, June 7, 1992, Robotics Mechatronics Lecture (ROBOMEC92)
[0005]
[Problems to be solved by the invention]
The problem with the free-flying robot is whether it is possible to accurately grasp where the free-flying robot is flying. A free-flying robot does not have a pre-laid track or wired control device, but flies with a propulsion device such as a thruster that it is equipped with, so if the location is not accurately grasped every moment, the work to be done is carried out It can happen when you can't.
[0006]
The present invention has been made in view of the above circumstances, and an object thereof is to provide a position recognition method and a position recognition system for accurately grasping the position of a flying object such as a free-flying robot.
[0007]
[Means for Solving the Problems]
As means for solving the above-described problems, a flying object position recognition method and a position recognition system having the following configuration are adopted. That is, the flying object position recognition method according to claim 1 is a flying object position recognition method for recognizing a position of a flying object flying in space, wherein the radiation unit has a plurality of different frequencies in the space. A radiation step that forms a film of light that divides the light in a film form, and a flying object that flies through the film of light formed by the frequency detection unit in the radiation step. A frequency detecting step for detecting the frequency of light corresponding to the blocked film when the light is blocked, and a position at which the position calculating unit calculates the position of the flying object based on the frequency detected in the frequency detecting step. And a calculating step .
[0008]
The flying object position recognition method according to claim 2, further comprising a distance calculation step in which the distance calculation unit calculates the distance of the flying object from the radiation unit . The position calculating step calculates the position of the flying object based on the distance calculated in the distance calculating step and the frequency detected in the frequency detecting step.
[0009]
A flying object position recognition method according to a third aspect of the present invention is the flying object position recognition method according to the first or second aspect, wherein the plurality of light films are formed so as to form a grid.
[0010]
The flying object position recognition method according to claim 4 is the flying object position recognition method according to any one of claims 1 to 3, wherein each of the plurality of light films has the radiation portion as a vertex. The conical light film is further arranged in a concentric manner around a straight line passing through the radiating portion .
[0011]
The flying object position recognition method according to claim 5 is the flying object position recognition method according to any one of claims 1 to 3, wherein each of the plurality of light films is disposed on the radiation unit . A cylindrical shape having a vertex is formed, and the cylindrical light films are concentrically arranged around a straight line passing through the radiating portion .
[0012]
The flying object position recognition method according to claim 6 is the flying object position recognition method according to claim 2, wherein the distance calculation unit calculates a distance from the radiation unit to the flying object, and the radiation unit and the flight unit. The measurement is based on the round-trip time of light with the flying object.
[0013]
A flying object position recognition method according to claim 7 is the flying object position recognition method according to any one of claims 1 to 6, wherein a laser beam is used as the light .
[0014]
The flying object position recognizing method according to claim 8 is the flying object position recognizing method according to claim 7, wherein the laser beam film is rotated at a high speed by a mirror, or reflected by an optical device such as a prism or a Fresnel lens. Alternatively, it is formed by utilizing refraction .
[0015]
The flying object position recognition method according to claim 9 is the flying object position recognition method according to claim 7 , wherein the laser beam film is bundled by arranging an optical fiber in the same manner as the film. It is characterized in that the laser beam is emitted from the end.
[0016]
Position recognition method of the flying object according to claim 10, in the position recognition method flying object according to any of claims 1 to 9, in accordance with the position of the flying object calculated by the position calculating step, the radiation portion It is characterized by changing the radiation direction of the plurality of lights radiated from.
[0017]
12. The flying object position recognition system according to claim 11 , wherein the flying object position recognition system for recognizing the position of the flying object flying in the space emits a plurality of light beams having different frequencies into the space. Then, the radiation part forming the light film partitioning the space and the light film formed by the radiation part correspond to the shielded film when the flying object flying in the space blocks it. A frequency detection unit that detects the frequency of light, and a position calculation unit that calculates the position of the flying object based on the frequency detected by the frequency detection unit .
[0018]
The flying object position recognition system according to claim 12, further comprising a distance calculation unit that calculates a distance of the flying object from the radiating unit in the flying object position recognition system according to claim 11. Is characterized in that the position of the flying object is calculated based on the distance calculated by the distance calculation unit and the frequency detected by the frequency detection unit.
[0019]
A flying object position recognition system according to a thirteenth aspect is the flying object position recognition system according to the eleventh or twelfth aspect, wherein the plurality of light films are formed so as to form a grid.
[0020]
The flying object position recognition system according to claim 14 is the flying object position recognition system according to any one of claims 11 to 13, wherein each of the plurality of light films has a conical shape having the radiating portion as a vertex. In addition, the conical light films are concentrically arranged around a straight line passing through the radiating portion .
[0021]
The flying object position recognition system according to claim 15 is the flying object position recognition system according to any one of claims 11 to 13, wherein each of the plurality of light films includes the radiating unit . A cylindrical shape having a vertex is formed, and the cylindrical light films are concentrically arranged around a straight line passing through the radiating portion .
[0022]
The flying object position recognition system according to claim 16, wherein the distance calculation unit calculates a distance from the radiation unit to the flying object, and the radiation unit and the flight object. The measurement is based on the round-trip time of light with the flying object.
[0023]
The flying object position recognition system according to claim 17 is the flying object position recognition system according to any one of claims 11 to 16, wherein a laser beam is used as the light .
[0024]
The flying object position recognition system according to claim 18 is the flying object position recognition system according to claim 17, wherein the film formed by the laser beam is rotated by a mirror at a high speed or reflected by an optical device such as a prism or a Fresnel lens. Alternatively, it is formed by utilizing refraction.
[0025]
The flying object position recognition system according to claim 19 is the flying object position recognition system according to claim 17 , wherein the laser beam film is bundled by arranging an optical fiber in the same manner as the film. It is characterized in that the laser beam is emitted from the end.
[0026]
A flying object position recognition system according to claim 20 , wherein the radiation object position recognition system according to any one of claims 11 to 19 is adapted to match the position of the flying object calculated by the position calculation section. It is characterized by changing the radiation direction of the plurality of lights radiated from .
[0028]
In the present invention, a space is partitioned by light having different frequencies radiated in a film shape (laser light is used as an example, but radio waves, electromagnetic waves, or directional sound waves may be used instead). The spatial coordinates carved in the film of light are formed. Then, when an object flying in this space blocks any of the light films, the position of the object in the space is specified based on the frequency of the blocked light. Further, by recognizing the position of the object in the space in this way, it is specified in which direction the object is moving.
[0029]
DETAILED DESCRIPTION OF THE INVENTION
A first embodiment according to the present invention will be described with reference to FIGS.
FIG. 1 is a diagram showing a construction work of a solar power generation satellite by flying a free-flying robot 2 from a space station 1 floating in outer space. The free-flying robot 2 uses its own propulsive force to fly through space, work between floating modules, work in places where the rail mobile robot cannot access, work to reciprocate over long distances, It is a dedicated work device for outer space that performs advanced tasks such as recovery.
[0030]
The structure of the free flying robot 2 is shown in FIG. The free-flying robot 2 includes a main body 3, each thruster 4 provided in the main body 3 to exert forward / backward movement, direction change and driving force in all directions, and an articulated finger that is also provided in the main body 3 and performs various operations. And 5. Further, the main body 3 is provided with a frequency detection unit 21 described later on each side surface.
[0031]
The space station 1 that is the base point of the work of the free flying robot 2 is provided with a light emitting device (transmitting device) 10 that emits a plurality of laser beams having different frequencies into a space in which the free flying robot 2 performs work. The piece or the free-flying robot 2 is provided with a light receiving device (receiving device) 20 for detecting the frequency of the laser light when the laser light film formed by the light emitting device 10 is blocked.
[0032]
As shown in FIG. 3, the light emitting device 10 includes light emitters 11a, 11b, 11c,... That emit laser beams of different frequencies, and light emitters 12a, 12b, 12c,. 11c,... Are rotated around an axis O.
Some of the light emitters 11 a, 11 b, 11 c,... Are arranged with different laser light emission directions by a certain angle. Each of the light emitters 11a, 11b, 11c,... Is rotated around the axis O by the rotation mechanism 13 to form endless laser light films A1, A2, A3,. These laser light films have a concentric shape centered on the axis O when viewed from the direction of the axis O.
[0033]
As shown in FIG. 4, the other light emitters 12a, 12b, 12c,... Form planar laser light films B1, B2, B3,. These laser light films are formed in a fan shape by swinging the light emitters 12a, 12b, 12c,... In the respective set directions. The angle around the axis is constant, as if it were radially centered from the axis O.
[0034]
As shown in FIG. 5, the light receiving device 20 includes a light receiving unit 21 that receives laser light, a frequency detection unit 22 that detects the frequency of the received laser light, and a communication unit that transmits the detected frequency to a host operation control system. 23. A plurality of light receiving units 21 are provided on every side so that the light receiving unit 21 can be detected regardless of the direction from which the laser beam hits, not one place on the outer surface of the free flying robot 2 (see FIG. 2).
[0035]
As a device for measuring the distance to the fixed point of the space station 1 (for example, the center of the light emitting device 10) as the base point, the space station 1 periodically emits laser light of a specific frequency and reflects it to the free flying robot 2. A distance meter 25 is provided for measuring the distance from the fixed point to the free flying robot 2 by measuring the measured laser beam (see FIG. 1).
[0036]
The plurality of laser light films A 1, A 2, A 3,... Formed by the light emitting device 10 divide a space into distances from the center (axis O) when viewed in an arbitrary cross section with the axis O as a perpendicular line. The laser light films B1, B2, B3,... Form a (B1, B2, B3,...) Coordinate system that defines how far away from the reference position about the axis O. As a result, a conical coordinate system as shown in FIG. 1 is formed in the work space of the free-flying robot 2.
[0037]
Furthermore, the host operation control system that supervises the operation of the free-flying robot 2 includes the detection result of the frequency detector 21 transmitted by the communication unit 23 and the free-flying robot 2 that is periodically measured by the distance meter 25. The position recognition device 30 for specifying the position on the sitting axis based on the distance is provided.
[0038]
The position recognition of the free-flying robot 2 by the position-recognition system configured as described above when the free-flying robot 2 flies in a space in which a conical coordinate system as shown in FIG. 1 is formed will be described.
In the light receiving device 20 mounted on the free flying robot 2, every time the free flying robot 2 blocks the laser light film, the light receiving unit 21 receives the laser light and the frequency of the received laser light is detected by the frequency detecting unit 22. Will detect. In the position recognition device 30, based on the detection result of the frequency detector 22, it is calculated how far the free flying robot 2 is away from the axis O and how far away from the reference position. To do.
[0039]
For example, if the free-flying robot 2 is flying on a certain route, and the laser beam film A2 is interrupted at some point and the laser beam film B1 is blocked before and after that, the light receiving device 20 causes the light receiving unit 21 to use the film A2 Next, the laser beam forming the film B1 is received. The frequency detection unit 22 detects the frequency of the laser light film A2 and the frequency of the laser light film B1, and the communication unit 23 transmits the detection result to the host operation control system.
[0040]
The position recognition device 30 constituting the host operation control system is located on the plane coordinates perpendicular to the axis O where the free flying robot 2 exists based on the detection result of the light receiving device 20 and the measurement result of the distance meter 25. The distance from the center of the light-emitting device 10 is specified, and as a result, the location where the conical coordinate system as shown in FIG. 1 exists is specified. Furthermore, by recognizing the position of the free flying robot 2 in the space, the direction in which the free flying robot 2 is moving is specified. The position information of the free flying robot 2 specified in this way is used for operation control of the free flying robot 2.
[0041]
By the way, in the present embodiment, the conical coordinate system is formed by the film of the laser light emitted from the light emitting device 10, but the coordinate system that divides the space is not limited to such a conical coordinate system, and is, for example, cylindrical by the film of the laser light. Alternatively, a coordinate system having any shape such as a cubic shape or a completely irregular shape may be formed. The coordinate system is not limited to laser light, but may be other light. Instead of light, radio waves, electromagnetic waves, arbitrary radio waves, or directional sound waves (however, sound waves are atmospheric air) Equivalent work can be obtained even if it is used only when working in the office. Further, the coordinate system may be defined by forming light such as laser light, radio waves, electromagnetic waves, arbitrary radio waves, or directional sound waves in a streak shape or a line shape instead of a film.
[0042]
Further, in this embodiment, the distance from the center of the conical coordinate system is specified by the difference in the frequency of the laser light film formed concentrically, but the light receiving device 20 detects the partial curvature of the laser light film. The distance from the center may be specified. This can be the same even when the coordinate system is formed in a cylindrical shape.
[0043]
In addition to the structure of the present embodiment, the light emitting device 10 uses (a) a mirror that rotates at high speed, (b) reflection or refraction of an optical device such as a prism or a Fresnel lens, (c) A structure in which a plurality of optical fibers are arranged and bundled in the same manner as the film, and a film of light is formed by emitting laser light from the end of the optical fiber may be employed.
[0044]
In addition, the light, laser light, radio wave, electromagnetic wave or sound wave as described above forms a streak or line whose cross-sections are spaced apart at equal intervals in the radial direction and whose direction of direction is known. May be used to define
[0045]
Next, a second embodiment according to the present invention will be described with reference to FIG. In addition, the same code | symbol is attached | subjected to the component already demonstrated in the said 1st Embodiment, and description is abbreviate | omitted.
In the present embodiment, the light emitting device 10 in the first embodiment is provided with a tilt / pann mechanism (not shown), and a conical coordinate system defined by the light emitting device 10 in a space where the free flying robot 2 performs work. The direction can be changed in any direction from the light emitting device 10 as a base point. In addition, as in the first embodiment, a fixed coordinate system is formed in the space, and the wake of the free flying robot 2 flying in the space is not recognized while plotting the coordinates. The flying robot 2 is captured by changing the orientation of the conical coordinate system, and the frequency detected by the light receiving device 20 is calculated to recognize the flight direction of the free flying robot 2 and also fly to the transmitting device 10 by radio waves. Data on the direction is transmitted, and the free flying robot 2 is tracked by changing the radiation direction of the laser beam by the transmitting device 10 based on the data. Thereby, the free flying robot 2 can always be caught in the conical coordinate system to recognize the position.
[0046]
In the present embodiment, the receiving device 20 does not calculate the data, but reflects the laser light with a reflector installed in the free flying robot 2 and detects the reflected light on the light emitting device 10 side. The position of the free flying robot 2 may be detected.
[0047]
Also in this embodiment, the coordinate system is not limited to laser light, but may be other light, or instead of light, radio waves, electromagnetic waves, arbitrary radio waves, or directional sound waves Equivalent work can be obtained even if is adopted. Further, the coordinate system may be defined by forming light such as laser light, radio waves, electromagnetic waves, arbitrary radio waves, or directional sound waves in a streak shape or a line shape instead of a film.
[0048]
In addition to the same structure as the light-emitting device 10 of the first embodiment, the light-emitting device 10 includes (a) a mirror that rotates at high speed, and (b) reflection or refraction of an optical device such as a prism or a Fresnel lens. A structure may be employed such as (c) arranging and bundling a plurality of optical fibers in the same manner as the film, and emitting a laser beam from the end of the optical fiber to form a light film.
[0049]
In addition, the light, laser light, radio wave, electromagnetic wave or sound wave as described above forms a streak or line whose cross-sections are spaced apart at equal intervals in the radial direction and whose direction of direction is known. May be used to define
[0050]
【The invention's effect】
As described above, according to the present invention, the location of a flying object such as a free-flying robot can be accurately grasped from moment to moment, whereby the operation control of the flying object can be accurately performed.
[Brief description of the drawings]
FIG. 1 is a diagram showing a first embodiment of the present invention, and is a schematic diagram showing a system for recognizing the position of a free-flying robot based on a space station floating in outer space.
FIG. 2 is a cross-sectional view showing the structure of a free flying robot.
FIG. 3 is a side view of the structure of the light emitting device.
4 is a side view of the light emitting device as viewed from a direction different from that in FIG. 3 (a view taken along line IV-IV in FIG. 3).
5 is a schematic view showing a light receiving device 20. FIG.
FIG. 6 is a diagram showing a second embodiment of the present invention.
[Explanation of symbols]
1 Space Station 2 Free Flying Robot (Flying Object)
DESCRIPTION OF SYMBOLS 10 Light-emitting device 20 Light-receiving device 11a, 11b, 11c, ..., 12a, 12b, 12c, ... Light-emitting device 21 Light-receiving part 22 Frequency detection part 23 Communication part 25 Distance meter 30 Position recognition apparatus

Claims (20)

A flying object position recognition method for recognizing a position of a flying object flying in space in the space,
A radiation step for radiating a plurality of light beams having different frequencies into the space to form a film of light that divides the space;
A frequency detection step of detecting a frequency of light corresponding to the blocked film when a flying object that is flying in the space blocks the light film formed in the radiation step;
A position calculation unit comprising: a position calculation step in which a position calculation unit calculates a position of the flying object based on the frequency detected in the frequency detection step. A distance calculating unit includes a distance calculating step of calculating a distance of the flying object from the radiation unit ;
2. The position calculation step according to claim 1, wherein the position calculation step calculates the position of the flying object based on the distance calculated in the distance calculation step and the frequency detected in the frequency detection step. A method for recognizing the position of a flying object.   3. The flying object position recognition method according to claim 1, wherein the plurality of light films are formed so as to form a grid. Each of the plurality of light films has a conical shape with the radiating portion as an apex, and the conical light films are concentrically arranged around a straight line passing through the radiating portion. The method for recognizing a position of a flying object according to any one of claims 1 to 3. Each of the plurality of light films has a cylindrical shape with the radiating portion as an apex, and the cylindrical light films are arranged in a concentric manner around a straight line passing through the radiating portion. The position recognition method of the flying object according to any one of claims 1 to 3. The distance calculating unit, the distance from the radiating portion to the flying object, the flying object according to claim 2, characterized in that for measuring the round trip time of light between said radiating portion and the flying object Position recognition method.   7. The flying object position recognition method according to claim 1, wherein a laser beam is used as the light.   8. The flying object position recognition method according to claim 7, wherein the laser light film is formed by rotating a mirror at high speed or using reflection or refraction of an optical device such as a prism or a Fresnel lens. . 8. The position recognition of a flying object according to claim 7, wherein the laser beam film is formed by arranging and bundling an optical fiber in the same manner as the film and emitting the laser beam from an end of the optical fiber. Method. The flying object according to any one of claims 1 to 9, wherein a radiation direction of a plurality of lights emitted from the radiation unit is changed in accordance with the position of the flying object calculated by the position calculating step. Position recognition method . A flying object position recognition system for recognizing a position of a flying object flying in space in the space,
A radiation section that radiates a plurality of light beams having different frequencies to the space to form a film of light that partitions the space;
A frequency detection unit that detects a frequency of light corresponding to the blocked film when a flying object flying in the space blocks the film of light formed by the radiation unit;
A flying object position recognition system, comprising: a position calculation unit that calculates a position of the flying object based on a frequency detected by the frequency detection unit. A distance calculation unit for calculating the distance of the flying object from the radiation unit ;
The position calculation unit calculates a position of the flying object based on the distance calculated by the distance calculation unit and the frequency detected by the frequency detection unit. Flight object position recognition system.   13. The flying object position recognition system according to claim 11, wherein the plurality of light films are formed so as to form a grid. Each of the plurality of light films has a conical shape with the radiating portion as an apex, and the conical light films are concentrically arranged around a straight line passing through the radiating portion. The flying object position recognition system according to claim 11. Each of the plurality of light films has a cylindrical shape with the radiating portion as an apex, and the cylindrical light films are arranged in a concentric manner around a straight line passing through the radiating portion. The flying object position recognition system according to any one of claims 11 to 13. The distance calculating unit, the distance from the radiating portion to the flying object, the flying object according to claim 12, characterized in that measuring the round trip time of light between said radiating portion and the flying object Position recognition system.   17. The flying object position recognition system according to claim 11, wherein a laser beam is used as the light.   18. The flying object position recognition system according to claim 17, wherein the laser beam film is formed by rotating a mirror at a high speed or using reflection or refraction of an optical device such as a prism or a flannel lens. . The position recognition of a flying object according to claim 17, wherein the laser beam film is formed by arranging and bundling optical fibers in the same manner as the film and emitting the laser beam from the end of the optical fiber. system.   20. The flying object according to claim 11, wherein a radiation direction of a plurality of lights emitted from the radiation unit is changed in accordance with the position of the flying object calculated by the position calculation unit. Position recognition system.

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