JPH02173520A - Running path having light projecting means for measuring position, azimuth and unit advance quantity, and moving body which can measure position, azimuth and unit advance quantity, and measuring method for position, azimuth and unit advance quantity of moving body - Google Patents

Abstract

PURPOSE:To exactly detect the unit advance quantity, the azimuth to a running path or the present position to the left and right directions of the running path by providing the running path having a light projecting means installed at a predetermined distance and an angle. CONSTITUTION:Light beams projected from a pair of light projecting means 3, 3' are received by a pair of light receiving means 5 successively in accordance with the advance of a moving body 2. As the moving body 2 advances, a pulse generating means 8 loaded on the moving body 2 stores temporarily measured pulse information in a memory 11. Also, based on a distance of pair of light projecting means 3 installed at a prescribed interval from a constant ROM 10 in which a constant is stored in advance, an angle of the light projecting means 3' for projecting a light beam at a prescribed angle, and the distance between the light receiv ing means 5 loaded on the moving body, an operation 12 is executed by the number of pulses measured by the pulse generating means 8 being proportional to the advanced quantity and a light receiving timing of light beams from each light projecting means 3, 3', and the unit advanced quantity on the running path, or the position and the azimuth to the running path are outputted 13.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is applicable to a mobile object (for example, a car, an unmanned vehicle, a robot, etc.) traveling on a driving path (for example, a general road, an expressway, a driving school, an airport, an amusement park, etc.). The present invention relates to a running path having a light projecting means necessary for measuring the traveling distance of a moving object and the position or direction of the moving object with respect to the running path when the moving object travels through a warehouse, a factory, a golf course, etc.

The present invention relates to a moving body capable of measuring the traveling distance of the moving body and its position or orientation with respect to the traveling path by receiving the light beam from the light projecting means.

The present invention uses a light projecting means installed on the traveling path, a light receiving means mounted on the moving object, and a pulse generating means proportional to the traveling distance to determine the unit progress of the moving object, the position with respect to the traveling path, and the direction. This invention relates to a method for measuring unit progress, position, and direction of a moving object.

[Conventional technology]

FIG. 8 is an explanatory diagram of the prior art. The prior art will be explained below with reference to FIG.

80 is a moving body, 81 to 83 are light beams, 84 is a left light beam reflector, and 85 is a right light beam reflector. As shown in FIG. 8, the moving body 80 is moving in a direction deviated by θ from the X direction of the XY seat axis. Furthermore, the moving body 80 is equipped with a light emitting and receiving device (not shown),
This can project and receive a light beam in the left and right directions 81, 82 and at an angle 83 of α with respect to the traveling direction, and furthermore, the moving body 80
It is possible to scan in the direction perpendicular to the image.

The left and right light beam reflectors 84 and 85 are light beam reflectors that reflect the light beam of the light projecting and receiving device in the same direction with respect to the incident angle, and are always opposed to the running path at right angles.

A corner cube is usually used as this light beam reflector.

As shown in FIG. 8, a case will be described in which the vehicle travels deviated by θ with respect to the X axis.

Now, a light beam 83 is projected from the moving body 80 toward the traveling direction at an angle α, and at the same time, the light beam 83 is reflected by a light beam reflector 84 and received by a light receiving device (not shown).

When the moving body 80 travels by Ll in the figure from this position,
The left light beam 81 is reflected by a light beam reflector 84 and simultaneously received by a light receiving device mounted on the moving body 80 . Further, the right light beam 82 travels further by L2, is reflected by the light beam reflector 85, and is simultaneously received by the light receiving device.

The distances L1 and L2 can be measured using a known low-return encoder or vehicle speedometer that detects the rotation of the wheels of the moving body 80, and the difference in projection time between the left and right light beams, and the angle of the light beam 83. α and the distance C between the light beam reflectors 84 and 85 are constant and known values.

Therefore, this known value and the moving distance L1, L of the moving body
2, the position of the moving body 80 on the X and Y coordinate axes (
X, Y) and the traveling direction θ can be calculated by the computer of the mobile object.

The details of the above calculation can be found in Japanese Patent Application Laid-Open No. 61-217787 and the ``1st Vehicle Automation Symposium''. ``Method for correcting the position and orientation of moving objects on roads'' by Toshihiro Tsumura, Faculty of Engineering, Osaka Prefecture University, and four other authors.

Through the above calculation, it is possible to correct the cumulative position error of the moving object due to self-contained navigation or the like.

Further, another conventional example is described in Japanese Patent Publication No. 62-57928.

That is, signal sources are arranged on both the left and right sides of the travel path, and detection means for detecting signals from the signal sources are provided on the left and right sides of the moving object. Further, the moving body is provided with a measuring means for measuring the distance traveled by the moving body from when the one detection means detects one of the signals until the other detection means detects the other of the signals. ing.

In this way, if the position of the signal source, the distance between the left and right detection means, and the moving distance of the moving object are known, the deflection angle in the moving direction of the moving object can be calculated.

[Problem to be solved by the invention]

However, in one of the conventional examples mentioned above, the light projecting means and the light receiving means are mounted integrally on the moving body, so compared to the case where the light receiving means is provided on the moving body and the light projecting means is provided on the traveling path. Therefore, if the number of moving objects is greater than the number of light projection means provided on the travel path, there is a problem that the price per moving object becomes expensive.

In one of the above-mentioned conventional examples, a moving object equipped with a light projecting means and a light receiving means has to be manufactured with precision in order to ensure that the light beam is accurately received by the light receiving means after the light beam from the light projecting means is projected. Not only does it have to be raised, but it is also complicated to assemble. Therefore, when comparing the case where the light emitting means or the light receiving means are integrated and mounted on a moving object, and the case where they are manufactured separately and installed on the running path or moving object, it is more expensive to manufacture them in one piece. There is the problem of becoming a thing.

In one of the above conventional examples, the distance measuring means is calculated in advance at the time of design to determine the distance traveled by the moving object per one pulse of the encoder. Therefore, depending on the situation when measuring the position or orientation of the moving object, an error occurs in the distance traveled by the moving object per one pulse of the encoder. In other words, the progress per pulse of the encoder attached to the wheel is determined by various conditions such as road surface conditions, deformation of wheels, deformation due to mechanical wear of wheels, gears, or belts, and the weight of cargo or its distribution. The amount changes,
There is a problem in that this results in an error when calculating the position or direction of the moving object.

In the other conventional example, it is only possible to measure the current direction of the moving body, but it is not possible to measure the position or the traveling distance with high precision.

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, it is an object of the present invention to provide a running path having a light projection means for measuring the unit progress, position, or direction of a moving body.

The present invention receives a light beam from a light projecting means, and calculates a unit traveling amount.
The purpose of the present invention is to provide a moving body that can obtain the position or orientation.

SUMMARY OF THE INVENTION An object of the present invention is to provide a method for measuring the position and orientation of a moving body, which can measure the position and orientation of a mobile body with respect to a travel path.

SUMMARY OF THE INVENTION An object of the present invention is to provide a method for measuring the unit progress of a moving object, which can measure the distance traveled per pulse generated from a pulse generating means that is proportional to the amount of progress of the moving object.

[Means to solve the problem]

Referring to FIG. 1, the present invention will be explained in detail. FIG. 1 is a block diagram illustrating the present invention in detail.

In Figure 1, 1 is a driving route such as an expressway, general road, road within a driving school, airport, warehouse, factory, amusement park or golf course, 2 is a moving object such as a car, an unmanned vehicle, or a robot, and 3 is a moving vehicle such as a car, an unmanned vehicle, or a robot. are a pair of light projecting means that are arranged at regular intervals on either side of the running path 1 and project light at right angles to the running path 1; a pair of light projecting means for projecting light in a perpendicular direction and a direction α at a constant angle with respect to the perpendicular direction; 5 a pair of light receiving means mounted on the left and right ends of the moving body 2; 8 a pair of light receiving means mounted on the left and right rear of the moving body 2; A pair of mounted pulse generating means proportional to the amount of travel generates pulses as the moving object 2 travels, like a rotary encoder or a speedometer. Reference numeral 10 denotes constant storage in which the distance between the pair of light projecting means 3, the angle of the pair of light projecting means 3', and the distance between the pair of pulse generating means 8 mounted on the moving body 2 and proportional to the amount of travel of the pair are stored. Constants specified by the traveling route l and the moving object 2 are stored in advance in the ROM.

Reference numeral 11 denotes a pulse number storage memory which stores different pulse information for each moving body 2 measured by the pulse generating means 8 proportional to the amount of travel of the pair. Reference numeral 12 denotes a calculating means, which calculates a value based on the pulse information in the constant storage ROM 10 and the pulse number storage memory 11 when the light beams projected from the light projecting means 3 and 3° on the traveling path 1 are received by the pair of light receiving means 5. The unit progress of the moving object, the position or direction with respect to the traveling path 1 are calculated. 13 is an output means that displays the value calculated by the calculation means 12 so that it can be visually recognized.

[For production]

The present invention will be explained in detail with reference to FIG.

The light beams projected from the pair of light projecting means 3 and 3' are sequentially received by the pair of light receiving means 5 of the moving body 2 as the moving body 2 advances. As the moving object 2 advances, a pair of pulse generating means 8 mounted on the moving object 2 proportional to the amount of progress outputs the measured pulse information to the -H memory 11.
Store in.

On the other hand, from the constant ROM 10 stored in advance as a constant, the distance between a pair of light projecting means 3 installed at a constant interval, the light projecting means projecting light at a constant angle at an angle of 3 degrees, and the light receiving means 5 mounted on the moving object. Based on the distance between them, the number of pulses measured by the pulse generating means proportional to the amount of travel and the reception timing of the light beam from each light projecting means, the calculation means 12
performs the calculation, and the output means 13 can obtain the unit progress on the road or the position and orientation with respect to the road.

According to the present invention, it is possible to accurately obtain the amount of movement of the movable body 2 per pulse output from the pulse generating means 8 which is proportional to the amount of movement of the pair.

According to the present invention, since the unit progress, position, and direction of the moving body 2 with respect to the travel path are detected with high precision, information for controlling the moving body 2 based on these values can be used.

〔Example〕

Embodiments of the present invention will be described with reference to FIGS. 2 to 7.

FIG. 2 is an explanatory diagram of unit progress and direction calculation in an embodiment of the present invention, FIG. 3 is an explanatory diagram of position calculation in an embodiment of the present invention, and FIG. 4 is a diagram of a projection used in an embodiment of the present invention. FIG. 5 is a schematic diagram of a light receiving means used in one embodiment of the present invention, and FIGS. 6 and 7 are diagrams illustrating other embodiments of the present invention.

In FIGS. 2 and 3, 1 is a driving route, such as a general road, an expressway, a driving school road, an airport, a warehouse, a factory, an amusement park, or a golf course, and 2 is a moving object, for example, Cars, unmanned vehicles, robots, 3 are light projecting means, and the symbol L is attached to the one in front of the traveling path 1, the one behind F1, the one placed on the right side of R1, and the one placed on the left side of R1. The light projecting means 3FR and 3RR project light beams in a direction perpendicular to the running path 1, and are arranged on one side of the running path with a certain distance dL between them.

Further, the light projecting means 3FL projects a light beam in a direction perpendicular to the running path 1, and the light projecting means 3FR and the running path 1
The light projecting means 3FL and 3RL are arranged opposite to each other on the other side, and are arranged at a constant angle α (0° × α × 90°). 4 is a light beam projected from each light projecting means 3;
34 symbols are attached from Bl. 5L and 5R are left and right light receiving means, which are mounted on the front part of the moving body 2.

Reference numeral 7 denotes the traveling direction of the moving body 2, and 8L and 8R denote pulse generating means mounted at the rear of the moving body 2 and proportional to the amount of left and right movement, such as a speedometer or pulses proportional to the rotation of the rear wheels of the moving body 2. The encoder that generates dl is the moving body 2
The light beam 4 projected by the light projecting means 3FR by the light receiving means 5R of
d2 is the distance traveled by the moving body 2 from receiving light beam B3 to receiving the light beam 4B1 projected by the light receiving means 5 and the light projecting means 3FL, d2 is the distance traveled by the light receiving means 5 of the moving body 2 and the light projecting means 3RR The mobile object 2 d3 is the distance traveled by the moving body 2 from the position where the light receiving means 5 receives the light beam 4B2 projected by the light projecting means 3RL, and the light receiving means 5R receives the light beam 4B3 projected by the light projecting means 3FR. T is the distance between the light receiving means 5R and 5L, ψm is the distance between the light emitting means 3FL and 3P
The angle formed by the direction X perpendicular to the line connecting R and the traveling direction 7 of the moving body 2,
to D indicate the advancing position of the moving body 2.

In FIG. 4, 41 is a laser diode, 42 is a collimating lens for collimating the light beam generated from the laser diode 41, and 43 is a laser diode 4.
1 is a drive circuit for generating a light beam; 44 is a polygon mirror; a motor 45 rotates the mirror and converts the light beam generated by the laser diode 41 into a plane beam 46;

With this configuration, the light beam generated from the light projecting means 3 is scanned in the vertical direction by the polygon mirror 44 and is reliably transmitted to the light receiving means 5 mounted on the movable body 2.

Further, the surface beam 46 generated by scanning can be expanded using a galvanometer or a cylindrical lens, and a highly directional light emitting diode (LED) may be used instead of the laser diode 41 as the light source.

In FIG. 5, 50 is a condenser lens, 51 is a filter,
52 is a photodiode, 53 is a light receiving circuit, 54 is a circuit component, 55 is a light receiving unit, 56 is a case, 57.58
indicates an opening, and 59 indicates a lid.

The light beam projected from the light projecting means 3 passes through the condensing lens 50
through a photoelectric conversion element, such as a photodiode 52
The light is focused on the top. If the light beam has a specific wavelength, a filter 51 may be installed to distinguish it from sunlight. The current from the photodiode 52 is transmitted to the light receiving circuit 53.
output as a light reception signal.

Next, a method for measuring the unit progress, direction and position with respect to the traveling route 1, which is an embodiment of the present invention, will be explained with reference to FIGS. 1 to 3.

Now, as shown in FIG. 2, it is assumed that the moving body 2 is moving at an angle of ψm with respect to the X direction.

A light beam 4B4 from one of the light projecting means 3RR of a pair of light projecting means 3FR and 3RR installed at a constant interval dL on one side of the travel path 1 and projecting light at right angles to the travel path 1 is transmitted to a moving object. The light-receiving means 5R mounted on 2 receives the light. The position of the moving body 2 at this time is shown as A in FIG. Mobile object 2
When the moving body 2 further advances from the position A, a pair of pulse generating means 8L and 8R, such as an encoder, which are proportional to the amount of travel, generate pulses from the rear wheels of the moving body 2. The moving body 2 is at a distance d
Point B, which has progressed by 2, is detected by the light receiving device 5R receiving the light beam 4B3 projected from the light projecting means 3FR. And between this, left and right encoders 8L and 8R
The number of pulses is stored in the memory 11. Furthermore, moving body 2
advances by a distance d1 and reaches the 0 point shown in FIG. The light projecting means 3FL provided opposite to the other side of the traveling path 1 projects a light beam 4B1 in a direction perpendicular to the traveling path 1, and the light beam 4B1 is received by the light receiving means 5. The number of pulses of the left and right encoders 8L and 8R during this time is stored in the memory 11.

Now, the number of pulses of the right encoder 8R corresponding to dl is P
I R, the number of pulses of the left encoder 8L is PIL, and the right and left encoders 8R correspond to d2.

If the number of pulses of 8L is P2R and P2L, respectively, d
Left and right encoders 8R corresponding to l and d2.

The average pulses P1 and P2 of 8L are P1= (PIR+PIL)/2 (1)P
2=(P2R+P2L)/2 (2).

At this time, the distance T1 between the left and right light receiving devices 5R and 5L is the light projecting means 3.
Let the distance between FR and 3RR be dL, and since these values are known, these values and the encoder average pulse number P1,
The orientation ψm of the moving body 2 can be determined geometrically from P2 using the following formula.

In FIG. 2, the traveling distance of one pulse of the moving body 2 can be determined separately for the left and right encoders using ψm.

That is, dPR is the right encoder 8R.

dPL is the amount of movement equivalent to one pulse of the left encoder 8L.

Furthermore, the average one-pulse progression amount dP is dPR.

It is determined by the following formula using dPL.

aP= (dPR + aPL)/2 (6) Next, the current position X of the moving body 2 in the left and right direction with respect to the traveling path 1
A method for determining m will be explained with reference to FIG.

The moving body 2 receives the light beam 4B2 from the light projecting means 3RL by the light receiving means 5 at point D, and from this point on, the left and right encoders 8
Start counting the number of pulses generated by L and 8R. Then, the number of pulses until the moving body 2 advances by a distance d3 and the light receiving means 5R receives the light beam 4B3 from the light projecting means 3FR is stored in the memory 11. Thereby, the calculating means 12 calculates the average number of pulses P3 from the pulses P3L and P3R of the left and right encoders 8L and 8R corresponding to the distance d3.

p3= (P3L+P3R)/2
(7) The distances d1, d2, and d3 are determined by the following formula using the average one-pulse progression 1tdP.

dl='dP-Pi (8)
d2=dP-P2 (9)d
3 = dP −P 3
(10) Using these values, the calculated azimuth ψm, and the angle α formed by the light projecting means 3FL and 3FR, the angle from the light projecting means 3FL on the line geometrically connecting the light projecting means 3FL and 3FR of the moving object 2 is calculated. The distance Xm can be calculated using the following formula.

2・CO3ψm tan a(dl+d
3) ・sin ψm
(11) Here, the average pulse is calculated using equations (1), (2), and (7) for left and right encoders 8L and 8R, but it is also possible to use either one encoder or one vehicle speedometer. good.

In this case, if either equation (4) or equation (5) is used, equation (6) becomes unnecessary.

The arithmetic device 12 has a CPU and a RAM for calculating the above equations (1) to 11), and is constituted by an ordinary microcomputer, and includes a light projecting means 3FR stored in the constant storage memory 10 in advance. and 3RR, the angle α formed by the light emitting means 3FL and 3RL, the distance T and J between the light receiving means 5L and 5R, and the number of encoder pulses stored in the pulse number storage memory 11 while traveling. , the traveling distance dP of the moving body 2 per pulse after passing the light projecting means 3RR, the ψm direction of the moving body 2 with respect to the running path 1 when passing the light projecting means 3FR, and the horizontal direction with respect to the running path 1. The positions fit X m are calculated respectively.

The output means 13 is for displaying the calculation results of the calculation means 12, and can be a CRT, a printer, a floppy disk, a tape, a CD-ROM, or the like.

Further, the position of the moving body 2 can be corrected based on the unit progress obtained by the calculation of the calculation means 12, the azimuth ψm1 of the moving body 2 with respect to the running route 1, or the position Xm in the left-right direction of the running route 1. .

Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the embodiments described above, and various design changes can be made without departing from the scope of the invention described in the claims. Is possible.

For example, the arrangement of the light projecting means 3 on the running path 1 shown in FIG. 2 can be reversed with the running path 1 as a boundary, as shown in FIG.

If the moving body 2 calculates the amount of progress per pulse at the time of initial start, the angle α formed by the light beams of the light projecting means 3FL and 3RL on the traveling path 1 shown in FIG. 2 can be calculated as shown in FIG. As shown in the figure (it is also possible to arrange the light emitting means 3FR and 3RR in the same way. In other words, if the amount of progress per pulse is calculated at the first start, then the amount of progress per pulse can be calculated. There is no need to calculate the amount unless there is a change in the weight or balance of the moving body 2, so when determining the position and direction of the moving body 2 and correcting the current position and direction of the moving body 2, Light projecting means 3RR shown in Figure 2
is no longer necessary.

Furthermore, when the amount of progress per pulse is calculated, the light projecting means 3FR, 3RR, shown in FIG.
If either 3RL1 or 3RR out of the four 3FL and 3RL exists, the current position and orientation of the moving body 2 can be corrected.

The moving body 2 of the present invention is not limited to those that move on a running road, such as automobiles or unmanned vehicles, but can also be applied to those that move on a flat base, such as robots.

The light projecting means 3FL and 3RL can be housed in the same case, and the light projecting means may be installed anywhere, such as on the ground, indoors, on a pillar, or on the ceiling.

The light beam of the light projecting means 3 is modulated to change the frequency or pulse width, and when the light beam is projected as a binary code, position information that informs the moving object of the position of the traveling route, and control that controls the position, direction, etc. of the moving object is generated. The light can be received by a moving object as information or road information necessary for the moving object to travel on a travel route.

Note that even if a moving object passes in front of the light projecting means at high speed or there is something that obstructs the light beam, multiple light projecting means can be combined into a set as in the present invention, and multiple light beams can be transmitted. The light may be received by the light receiving means of the moving object, and the calculating means may be programmed to perform calculations so that the correct information can be selected from among the received light.

Several embodiments of the present invention have been described above, and in each example, the pair of light projection means provided on the running path is perpendicular to the running path. However, it is not necessary to provide the light projecting means at right angles to the running road. Even if the pair of light projecting means is provided at an angle to the running road, the same results as in the embodiment can be obtained by subsequent calculation processing. can be obtained.

〔Effect of the invention〕

According to the present invention, a traveling path having light projecting means installed at a predetermined distance and angle is provided, and a light receiving means for receiving light emitted from the light projecting means and a unit progress measuring means are installed on this traveling path. Since the moving object with the moving object is moving, even if there are changes in the weight of the moving object, the condition of the traveling path, or the aging of the moving object,
It is possible to accurately know the unit amount of progress, the orientation with respect to the travel route, or the current position with respect to the left and right directions of the travel route.

According to the present invention, if the moving distance per pulse is calculated when the moving body first starts, then only the light projecting means for detecting the direction or current position with respect to the traveling path is installed on the traveling path. Therefore, the installation space for the light projecting means is small, and the manufacturing cost of the light projecting means is also reduced.

According to the present invention, when the number of moving objects using the driving path is greater than the number of light projecting means installed on the driving path, for example, expressways, general roads in a specific area, driving schools, airports, etc. It is not necessary to provide a light emitting/receiving means in a moving body in a factory, a warehouse, an amusement park, a golf course, etc., and only a light receiving means is required, so the equipment mounted on the moving body becomes inexpensive.

According to the present invention, the light beam of the light projecting means can be modulated to carry various information, so that it can be used as control information or driving information of a moving body.

[Brief explanation of the drawing]

FIG. 1 is a block configuration diagram explaining the present invention in detail, and FIG.
The figure is an explanatory diagram of unit progress and direction calculation in an embodiment of the present invention, Figure 3 is an explanatory diagram of position calculation in an embodiment of the present invention, and Figure 4 is a light projecting means used in an embodiment of the present invention. Schematic diagram, FIG. 5 is an explanatory diagram of a light receiving means used in one embodiment of the present invention, FIGS. 6 and 7 are explanatory diagrams of other embodiments of the present invention, and FIG. 8 is an explanatory diagram of a prior art. . In the figure, 1... Travel path 2... Moving body 3... Light projecting means 4... Light beam 5... Light receiving means 7.
... Moving direction of movement 8 ... Pulse generation means proportional to the amount of movement 10 ... Constant storage ROM 11 ... Pulse number storage memory 12 ... Calculation means 13 ... Output means 14 ... Transmission Means 15 and 16... Antenna 17... Receiving means 18... Control driving means ψm
・Xm ・・Azimuth with respect to the running path・・Left-right position in the running path 45Motor/ Fig. 53 Light receiving circuit ＾k w Condolence b Fig. 1 Regular traveling route Explanatory diagram of other embodiments of the present invention AG Unillustrated present invention Other implementations of the tide imitation Hu map No. Δ

Claims (7)

[Claims] (1) Arranged at regular intervals on either side of the running path 1,
a pair of light projecting means 3 that project light onto the traveling path 1; a pair of light projecting means 3' facing the light projecting means 3 on the other side of the traveling path 1 and having a constant projection angle α; A traveling path having a light projecting means for measuring position, direction, and unit progress. (2) A pair of light projecting means on both sides of the running path for projecting light onto the running path; and a light projecting means for projecting light in a direction α at a constant angle with respect to the light projecting means on one or both sides of the running path. A traveling path having a light projecting means for measuring position and direction. (3) A running path having a light projection means according to claim 1 or 2, characterized in that the light beam is modulated and projected as specific information. (4) A pair of light receiving means 5 for receiving the light beams of the light projecting means 3 and 3' according to claim 1, a pair of pulse generating means 8 proportional to the amount of travel of the light projecting means 3 and 3'; a ROM 10 that stores constants for a constant interval, an angle α, and an interval between the pair of light receiving means 5; a memory 11 that stores the number of pulses obtained by the pulse generating means 8 proportional to the amount of progress; a calculation means 12 for calculating the unit progress per pulse, direction or current position from the constant and the number of pulses currently stored in the memory 11; and an output from which the output of the calculation means 12 can be obtained. A moving body capable of measuring position, direction, and unit progress, characterized in that it is equipped with means 13 and. (5) A moving object in which the specific information formed by the modulated light beam according to claim 3 is received by the light receiving means 3 of the moving object 2, and the position of the moving object 2 can be detected. (6) When the moving body 2 passes through the light projecting means 3 and 3' on the traveling path according to claim 1, the light receiving means 5 mounted on the moving body 2 receives the light beam projected from the light projecting means 3. is received, a pulse proportional to the traveling distance is generated from the pulse generating means 8 proportional to the traveling distance, and this value is stored in the pulse storage memory 11, and this value and the preset distance between the projectors and the light receiving A method for measuring the position and direction of a moving object, characterized in that the position and direction on a line connecting the left and right projectors of the moving object 2 are determined by a calculating means 12 from the distance between the projectors and the angle between the projectors. (7) When the moving body 2 passes through the light projecting means 3 and 3' on the traveling path according to claim 1, the light receiving means 5 mounted on the moving body 2 receives the light beam projected from the light projecting means 3. receives the light, generates a pulse proportional to the traveling distance from the pulse generating means 8 proportional to the traveling amount, and then calculates the actual traveling distance obtained from the light projecting means 3 and 3' and the direction with respect to the traveling route 1. The method for measuring the unit progress of a moving body per pulse is characterized in that the unit progress of the moving body per pulse is determined from this value by the calculating means 12.