JPH01203920A - Method and device for detecting position of moving operation machine - Google Patents

Abstract

PURPOSE:To accurately and securely measure the momentarily varying position of the moving operation machine by emitting a light beam which can be discriminated as natural light from a light source mounted on the moving operation machine and photodetecting it by photodetecting devices which are installed at a known distance. CONSTITUTION:The light source 2 consisting of a xenon lamp is mounted on a clamping machine 1 which has a rolling pressure roller 1a and emits the light beam B. This light beam B is projected on and photodetected by a photodetecting element through the lens of an optical tracking device 3. A CPU judges which element and with which intensity the light beam B projects and sends a pulse signal so that the outputs of respective elements become equal and controls so that projecting the light beam B on the center part of the element group. Consequently, the device 3 calculates angles theta1 and theta2 of the device to the machine 1 by counting pulses. The distance D between the two devices 3, on the other hand, is constant and already known, so information signals of those data theta1 and theta2, and D are processed by a controller 12 by trigonometry to calculate the position of the machine 1.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field 1] The present invention relates to a method and apparatus for tracking a mobile work machine such as a compaction machine and detecting its position.

[Prior art and its problems 1] In recent years, with the automation of construction work, etc., there has been progress in mobile working machines that perform various tasks while moving.

By the way, for this type of mobile work machine, where and what to do, that is, the relationship between the work position and the work content, is very important, and in order to have the machine perform the appropriate work, it is necessary to constantly grasp the position information. It is necessary to keep it.

However, conventionally, with this type of mobile work W1 machine, there was no technology to constantly detect its position, and there was a limit to the automation of the work.

[Objective of the Invention 1 The present invention has been made to solve the above-mentioned conventional problems, and its purpose is to provide a method for easily and reliably detecting the constantly changing position of a mobile working machine. and equipment.

[Configuration 1 of the Invention The method for detecting the position of a mobile work machine according to the present invention
A light beam that can be identified as natural light is emitted from a light source mounted on a machine, and is received by light receiving devices installed at two points separated by a known distance, and each light receiving device measures the angle between the other light receiving device and the light source. The 48 characteristics include measuring the position of the mobile work machine by triangulation calculation based on the data of these angles and the known distance. The light beam is, for example, a strobe flashlight modulated to a predetermined frequency.

Further, the position detection device for a mobile working machine of the present invention includes a light source mounted on a mobile working machine and emitting a light beam that can be identified as natural light, and a light source installed at a known distance apart from a light source that receives the light beam. Arithmetic processing that calculates the position of the mobile work machine by performing triangulation calculation based on the data of two light receiving devices, the angle between the other light receiving device and the light source measured by each light receiving device, and the above known distance. It is characterized by being composed of a device. The light source is, for example, a xenon lamp that emits a strobe flashlight modulated at a predetermined frequency, and the light receiving device is a device that tracks the light source as it moves.

[Embodiment 1] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

In FIG. 1, reference numeral 1 denotes a compaction machine having compaction rollers 1a, which is a mobile working machine that compacts soil while moving on the ground.

The compaction machine 1 is equipped with a light source 2 consisting of a xenon lamp, which emits a light beam B.

The light beam B emitted from the xenon lamp is flashed at 400 Hz using, for example, a strobe flashlight so that it can be distinguished from natural light (sunlight).

3 is an optical tracking device, as shown in FIG. 2, it includes a lens 4, a light receiving element 5, a preamplifier 6, a filter 7,
The vI is comprised of a /D converter 8, a medium heat processing unit (CPU) 9, a pulse amplifier 10, a pulse motor 11, and the like.

The light beam B from the light source 2 is irradiated onto the light receiving element 5 through the lens 4 and is received.

As the light receiving element 5, for example, a plurality of 7t door arrays are arranged in parallel, the current generated in the irradiated light receiving element 5 is amplified by a preamplifier 6, and only the frequency (for example, 400 Hz) equal to the above-mentioned light #iB is passed. filter 7
The signal is converted into a digital signal by the A/D converter 8 and input to the central processing unit 9.

The central processing unit 9 determines which light receiving element 5 is irradiated with the light beam B and with what intensity, and also sends a pulse signal to the pulse motor 11 so that the outputs of both light receiving elements 5 are equal. , the light beam B is controlled so as to irradiate the central part of the group of 5 light receiving elements.

Therefore, when the mobile work machine 1, that is, the light source 2 moves and the irradiation state on the light receiving element 5r# changes, the central processing unit 9 operates the pulse motor 11 based on the judgment of the central processing unit 9, and the light source 2,
That is, the direction of the mobile work machine 1 is always tracked.

Furthermore, since it is known that the pulse motor 11 rotates at a predetermined angle per pulse, the rotation angle of the pulse motor 11 can be determined by counting the number of pulses. Therefore, each optical tracking device r11
3, the other optical tracking device 3 and the mobile work machine 1
The angle θ1. θ2 can be calculated by counting the number of pulses.

On the other hand, since the two optical tracking devices 3 are fixed in advance at two positions overlooking the working area of the mobile work machine 1, the distance between the devices 3 is constant and known.

Therefore, the distance between the devices 3 and the angle θ.

When the information signal θ2 is sent to the controller 12, the controller 12 calculates the position of the working machine 1 by the principle of triangulation. The calculation results are displayed on the CRT screen, allowing the current position of the roller to be managed at all times.

Further, it can also be printed out using the printer 13. In this embodiment, the controller 12 is set in the optical tracking device 3 together with the printer 13.

The present invention can also be extended to three-dimensional positioning by calculating the elevation angle by changing the arrangement of the light receiving element group, changing the calculation of the central processing unit, and adding a pulse amplifier, pulse motor, etc. [Effects of the Invention] (1) The position of the working fi machine in operation can always be obtained in real time.

(2) The working machine only needs to be equipped with a light source, so the equipment is simple and failures are extremely rare.

(3) Since the position of the mobile work W1 machine can always be grasped in real time, the work machine can be managed quickly and easily.

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram showing one embodiment of the present invention, and FIG. 2 is an explanatory diagram of the principle of an optical tracking device. 1... compaction machine, 1a... compaction roller, 2...
・Light source, 3... Optical tracking device, 4... Lens, 5
... Light receiving element, 6... Preamplifier, 7... Filter, 8... A/D converter, 9... Central processing unit,
10...Pulse amplifier, 11...Pulse motor-1
12... Controller, 13... Printer, B.
...ray, D...distance, θ, θ2...angle.

Claims (1)

[Claims] 1. A light beam that can be identified as natural light is emitted from a light source mounted on a mobile working machine, and is received by light receiving devices installed at two points separated by a known distance, and each light receiving device receives the light of the other. A method for detecting the position of a mobile work machine, comprising: measuring angles formed between the device and the light source; and determining the position of the mobile work machine by triangulation calculation based on data between these angles and the known distance. . 2. The method for detecting the position of a mobile work machine according to claim 1, wherein the light beam is a strobe flashlight modulated at a predetermined frequency. 3. A light source that is mounted on a mobile work machine and emits a light beam that can be identified as natural light, two light receiving devices that receive the light beam and are installed at a known distance apart, and the other light that is measured by each light receiving device. Mobile work characterized by comprising a calculation processing device that calculates the position of the mobile work machine by performing triangulation calculation based on data of the angle formed by the light receiving device and the light source and the known distance. Machine position detection device. 4. The position detection device for a mobile work machine according to claim 3, wherein the light source is a xenon lamp that emits a strobe flash light modulated to a predetermined frequency. 5. The position detection device for a mobile working machine according to claim 3 or 4, wherein the light receiving device is a device that tracks a light source as it moves.