JPH03243878A - Position detecting device for moving body - Google Patents

Abstract

PURPOSE:To easily detect which part in a movement space the moving body is present in by providing a moving body detecting means, a decision means, and a display means. CONSTITUTION:A passage 1 has, for example, 1st, 2nd, and 3rd entrances 2a, 2b, and 2c. This passage 1 which is complicated like a maze is divided into optional sections by moving body detectors. For example, a 1st moving body detector D1 is arranged right behind the entrance 2a, the passage branches into two in front of the entrance 2a, and a 2nd moving body detector D2 and a 3rd moving body detector D3 are arranged right behind the branch. Each moving body detector consists of a signal transmitter which sends, for example, laser light and a receiver which receives the light. Each receiver is connected to the decision means 3. Then the decision means 3 which inputs the detection signal from, for example, the detector D1 detects the moving body entering the passage through the entrance 2a and also decides that the moving body is present in the section divided by the detectors D1, D2 and D3 since a detection signal is inputted from neither of the detectors D2 and D3, thereby outputting its decision signal to an output means 4.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an object position detection device, and more specifically, to a moving object position detection device that can accurately detect where a moving object is in a moving space. The present invention relates to a body position detection device.

[Prior art and inventions to be solved Section B] Conventionally, there is a device that detects in which part of a passageway a person or a moving object is present, or in which of multiple rooms a person or a moving object is present. It didn't happen.

However, when entering and exiting a specific building, a specific person can enter and exit the hill by inserting the ID cart into the IDIji cart reader installed at the building entrance. There are systems that do this.

However, although such ID cart systems can check the comings and goings of a particular person on a particular hill, they cannot check at all whether any z7ic in that building is present. Is it certain that a person is present in a specific hill space?If it is not known where the person is present, for example, if the person is in a specific area such as a dangerous area within a building. It is also not possible to alert the user if there is a threat of intrusion or if there is a person in such a specific area. Furthermore, it takes time to search for such a person, for example, in a vast building. In this way, if it is possible to know where in a given space a person or a moving object, such as a robot, exists within that space, it is possible to know if a specific person is intruding into a dangerous area within a specific space. This can be prevented by issuing warnings, etc. Also, if there is an intrusion, it is possible to issue instructions and orders to leave as soon as possible. It can be easily identified. Therefore, there is a need for a system that can not only simply enter and exit a specific space, but also reliably determine in which area within that specific space a moving object is present.

This invention has been made based on the above circumstances.

That is, an object of the present invention is to provide a position detection device that can easily detect where in a moving space a moving object is present.

Another object of the present invention is to provide a moving body detection device that can easily detect what kind of moving body is present in which part of the moving space.

[Means for Solving the Problem] The invention according to claim 1 for solving the problem is a mobile device that divides a moving space into arbitrary sections using a plurality of moving object detectors that detect passage of a moving object. body detecting means; a determining means for determining a section where a moving object exists by inputting a detection signal output from the moving object detector; and displaying a section where the moving object is located as determined by the determining means. A position detecting device for a moving object, characterized in that the moving object detector according to claim 1 comprises a pair of signal transmitter and receiver. The invention according to claim 3 is characterized in that the moving object detector according to claim 1 includes a pair of signal transmitters disposed along a moving space and a pair of signal transmitters arranged respectively in the pair of signal transmitters. A pair of corresponding receivers, the invention according to claim 4 is characterized in that the moving object detector according to claim 1 comprises a plurality of signal transmitters arranged along the longitudinal direction and a plurality of signal transmitters arranged along the longitudinal direction. and a plurality of receivers corresponding to each of the signal transmitters, and the invention according to claim 5 provides that the receiver according to any one of claims 2 to 4 transmits a signal from the transmitter. The invention according to claim 6 is characterized in that the mobile object according to any one of claims 2 to 4 receives a signal transmitted from a signal transmitter in the mobile object detector. Then,
The mobile object detector includes a signal receiving and transmitting device that transmits a unique identification signal given to the moving object, and is a receiver in the moving object detector or a receiver that receives the identification signal.

[Effect] The above configuration of the present invention has the following effects.

The moving space is divided into arbitrary sections by a plurality of moving object detectors constituting the moving object detection means. Mobile objects such as people,
When a self-propelled robot or the like moves from one section to an adjacent section in the movement space, a detection signal is output from a moving body detection base provided between the section and the adjacent section. The determining means inputting the detection signal recognizes, based on the detection signal, that the object has moved from a certain section to an adjacent section, and specifies the section where the moving object is present.

Then, the identified section is displayed by the display means that inputs the discrimination signal output from the discrimination means.

Here, the moving object detector is arranged at the boundary between one section and an adjacent section in the moving space to separate one section from another, and is formed by a pair of a signal transmitter and a receiver. Something comes up. Usually, this moving object detector can be formed by a signal transmitter arbitrarily placed in the moving space and a receiver placed opposite to the signal transmitter. Configured in this way, the signal emitter emits a signal, which signal is received by the receiver. Furthermore, the signals transmitted from the signal transmitter include signals using ultrasonic waves, laser light, visible light, infrared rays, and the like.

In this case, a moving object passes between a signal transmitter and a receiver that are arranged opposite to each other. The receiver always receives the signal emitted from the signal transmitter, but if a moving object passes between the signal transmitter and receiver,
When the signal emitted from the signal transmitter is not detected by the receiver and reception is interrupted, the receiver can output a detection signal for detecting the passage of a moving object.

Further, the moving object detector may be formed between a certain section in the moving space and an adjacent section as a pair of signal transmitters and a pair of receivers facing each other along the moving space. I'll come.

If a moving object detector is configured as a pair of signal transmitters and a pair of receivers in this way, 1. For example, when a moving object moves from a certain section to an adjacent section, the signal that is closer to the certain section will emit the signal. The signal emitted from the transmitter is first blocked by the moving object, and the signal emitted from the signal transmitter closer to the adjacent section is blocked by the moving object, so the moving object moves from one section to the adjacent section. It comes down to recognizing what you have done.

Further, the moving object detector may include a plurality of signal transmitters disposed left and right with respect to the moving object and along the vertical direction in a plane orthogonal to the moving direction of the moving object in the moving space, and It may also be formed with a plurality of receivers arranged vertically facing each other. When such a moving object detector is used, it is possible to reliably detect the passage of a moving object.

If the mobile object is provided with a signal receiving and transmitting device that receives a signal transmitted from the signal transmitter and outputs an ID signal unique to the mobile object upon receiving the signal, the signal transmission at the mobile object detector is performed. When a moving object passes between the receiver and the receiver, an ID signal is transmitted from the signal receiving/transmitting device of the moving object, and the receiver receives the ID signal. By inputting the ID signal received by the receiver into the discriminating means, the discriminating means identifies the moving object passing through the moving object detecting means, detects the passage of the moving object, and detects the location of the moving object. Identify. Note that the information regarding the moving body determined by the determining means is displayed by the display means.

[Example] Next, the present invention will be specifically explained with reference to the drawings.

FIG. 1 (1) is an explanatory diagram showing a labyrinthine path as a moving space.

As shown in FIG. 1 (1), this passage l has, for example, three entrances: a first entrance 2a, a second entrance 2b, and a third entrance 2C. And through this labyrinth-like passage,
Fractionate into arbitrary sections using a moving object detector. For example, in FIG. 1, the first moving object detector D□ is located immediately after the entrance 2a.
However, in front of the position where the first moving object detector D D3 is placed. In addition, the second moving object detector D2
A sixth moving object detector D6 is arranged in the straight path along which the moving object detector D6 is arranged. This second moving object detector D2 and the sixth
The path in which the moving object detector D6 is arranged has two branches, and the fourth moving object detector D4 is located in the branch path that is closer to the second moving object detector D2, and the path that is closer to the second moving object detector D2 has two branches. The fifth
A moving location detector D5 is arranged respectively. Similarly, the passage shown in FIG. 1 is provided with a first moving object detector D16 to a sixteenth moving object detector D16. ,Dz
The section divided by the moving object detectors D2, D4,
D5. Section divided by Ds, moving object detector D x
, D 14+ D , and sections divided by s are formed. In this way, a closed section is formed in the passage by the plurality of moving object detectors.

Here, each moving object detector includes, for example, a signal transmitter di that emits a laser beam, and a receiver d2 that receives the emitted laser beam, as shown in FIG. 1(b). The signal transmitter di and the receiver d2 are arranged facing each other across a passage.

Furthermore, as shown in FIG. 2, each receiver is connected to a determining means 3, for example, a CPU, via a signal line, and by inputting a detection signal outputted from each receiver, it is possible to determine which section of the moving body. For example, the determining means 3 inputting a detection signal from a first signal detector detects that a moving object has entered the passage from the first entrance 2a, and detects the presence of a second moving object. Since only the detection signals from the detector D2 and the third moving object detector D3 are inputted, the determining means 3.

The moving body is determined to be present within the section divided by the moving body detectors D□, D, , D, and a 1 discrimination signal is output to the output means 4.

The output means 4 is, for example, a CRT display device or a printer, and inputs the discrimination signal to display the section where the moving object is present.

If the moving object passes through the second moving object detector D2, a detection signal is output from the second moving object detector D2,
Since no detection signal is output from the fourth moving object detector D4, the fifth moving object detector D5, and the sixth moving object detector D6,
The determining means 3 includes a moving object detector D2. D4. D5. It is determined that a moving object exists in the section divided by Da. In this way, the passage is divided by multiple moving object detectors to form a closed section, so by inputting the detection signal from one moving object detector, the previously input moving object detection Since the detection signal from the mobile object detector and the detection signal from other moving object detectors in the moving object detector forming the closed area are not output, the determining means determines that a moving object exists within the closed area. I can do something.

The moving object detector shown in FIG. 3 can also be used instead of the moving object detector in the above embodiment.

As shown in FIG. 3, this moving object detector includes a pair of signal transmitters di and ddl arranged along the moving direction, and the pair of signal transmitters di.

a pair of receivers d2. d
d2. The signal transmitters DI and ddl each transmit laser beams bl and b2, and the laser beams transmitted from the signal transmitter di are received by the receiver d2, and the laser beams transmitted from the signal transmitter ddl are received by the receiver d2. The light b2 is received by the receiver dd2.

When a moving object detector as shown in FIG. 3 is used, for example, when the moving object moves from point A to point B shown in FIG. 3, the moving object crosses the laser beam in the order of bl and b2. become. Then, detection signals are sequentially outputted from the receivers d2 and dd2 to the discriminating means 3, and based on the input order of the detection signals, the discriminating means 3 determines that the moving body has progressed from point A to point B. Discern. Also,
If the moving object crosses the laser beam in the order of b2 and bi, the determining means 3, conversely, determines that the moving object has progressed from point B to point A. In other words, the moving object detector shown in FIG. 3 can detect the moving direction of the moving object.

As shown in FIG. 4, signal transmitters dhl are arranged along the vertical direction on each side wall of the passage.

dh2. dh3. dh4. dh5, and receivers ddhl, ddh2, ddh3 . ddh
4. A moving object detector can also be formed with ddh5.

Using such a moving object detector, in the discrimination means,
For example, receivers ddhl, ddh2, ddh3. ddh4
．． When all detection signals from ddh5 are input, it is determined that it is certain that the moving object is moving, and the receivers ddhl, d
dh2゜ddh3. ddh4. When only one of ddh5 outputs a detection signal, C can determine that there is a malfunction. If the passage of a moving object is determined only after all detection signals from a plurality of receivers are input in this manner, the passage of a moving object can be detected reliably. Although the number of signal transmitters and receivers is five in FIG. 3, the number of signal transmitters and receivers is
It is sufficient if there are more than one, and the number of installations is not limited to the number shown in No. 3 [2I]. Furthermore, it is also possible to determine the size of a moving object by appropriately selecting the number of signal transmitters and receivers.

Further, the mobile object may be provided with a signal receiving and transmitting device that transmits a unique identification signal given to the mobile object upon receiving the signal transmitted from the signal transmitter in the mobile object detector. .

An example of this moving object is a helmet 5 worn by a person such as a worker, as shown in FIG. 145, for example. As shown in FIG. 5, a signal receiving and transmitting device 6 is installed at an appropriate position on the helmet 5.

This signal receiving and transmitting device 6, for example, as shown in FIG.
A light receiving/photoelectric conversion unit 7 receives a signal from a signal transmitter, for example, a laser beam, and converts the optical signal into a voltage signal.The voltage signal is input to the light receiving/photoelectric conversion unit 7, and when the voltage exceeds a certain threshold, a digital signal is output. an A/D converter 8,
A trigger generation circuit 9 that outputs a trigger signal when the digital signal is input, a CPU 10 that operates to perform a certain operation when the trigger signal is input, and stores ID information unique to the moving body, such as name code, affiliation, etc. At the same time, the memory 11 is capable of reading out the ID information under the control of the CPU I0 and writing the ID information under the control of the CPU10;
An input unit 12 for inputting ID information to be written into the memory 11 under the control of the PU 10, for example, a numeric keypad, and the CPU 10
A transmitter 13 that transmits an ID identification signal based on the ID information read from the memory 11 under the control of be done.

When employing such a signal receiving/transmitting device 6, the mobile receiver has a function of receiving intermittent laser light output from the signal transmitter and photoelectrically converting it.

When the signal receiving and transmitting device 6 is used, for example, the input section 1
2, enter the ID information of the mobile unit. Then, the ID information is temporarily written and stored in the memory 11. When the signal receiving and transmitting device H6 is attached to a helmet, for example, when a worker wearing the helmet walks down a passage and cuts off the laser light emitted from the signal transmitter, the signal receiving and transmitting device 6 receives light and receives photoelectrons. The converter receives the laser light and outputs the laser light as a voltage signal, and the A/D converter 8 converts the voltage signal exceeding a certain threshold into a digital signal,
The trigger generation circuit 9 which outputs a voltage signal and inputs this digital signal outputs a trigger signal to the CPU10,
The CPU 10, which inputs this trigger signal, reads the ID information from the memory 11 according to a preprogrammed procedure, and outputs this ID information to the transmitter.The transmitter 13, which inputs the ID information, outputs a pulse signal according to the ID information. The laser transmitter 14, which outputs a pulse signal and inputs a pulse signal, transmits intermittent laser light. This intermittent laser light is a signal corresponding to ID information.

A receiver that receives intermittent laser light receives the intermittent laser light, converts it into an electrical signal corresponding to ID information, and outputs it to the determining means 3. The determining means 3 determines the ID information of the mobile object, such as a name code, based on the input electric signal, confirms that the mobile object has entered the closed area based on the absence of input signals from other receivers, and displays the ID information on the display means. Displays the closed section where the moving object exists and the ID information of the moving object.

In addition, when a trespasser who is not wearing the signal receiving/transmitting device 6 enters the closed space, for example, the laser beam from the signal transmitter is intermittently received and the detection signal output from the receiver is input. The determining means determines that the intruder is a mobile object whose ID has not been registered, and displays, for example, a warning on the display means.

Although the embodiments of the present invention have been described above, the present invention is not limited to the embodiments described above, and various modifications can be made without changing the gist of the invention.

The movement space in this invention is not limited to the labyrinth-like corridors mentioned above, but also includes various spaces that require monitoring, such as spaces inside high-rise buildings (room 7 corridors, etc.), spaces inside nuclear reactor equipment, spaces inside factories, etc. be able to.

Furthermore, if the discriminating means is provided with a memory, the signals output from the receiver may be stored in the memory over time, and the moving route of the moving body over time may be displayed on the discriminating means. I'll come.

[Effects of the Invention] According to the present invention, there is provided a position detection device that can easily detect in which part of the moving space a moving object is present, and a position detecting device that can easily detect in which part of the moving space a moving object is present. Accordingly, it is possible to provide a detection device for a moving object that can detect a moving object.

[Brief explanation of drawings]

FIG. 1(a) is an explanatory diagram of a maze-like passage in an embodiment of the present invention, and FIG. 1(b) shows a closed space formed by a signal transmitter and a receiver in the maze-like passage. FIG. 2 is an explanatory diagram showing the entire moving body detection device of the embodiment described above, and FIG. 3 is another embodiment of the present invention, which shows a signal transmitter and receiver in a maze-like passage. FIG. 4 is an explanatory diagram showing an example of the arrangement of the signal transmitter and receiver in another embodiment of the present invention, and FIG. FIG. 5 is an explanatory diagram showing a signal receiving and transmitting device worn on the body. FIG. 5 is an explanatory diagram showing an example of the configuration of the signal receiving and transmitting device. 1...Aisle, D1~DIM, di, ddl, dhl, d
h2. dh3. dh4. dh5...Signal transmitter, d2.
dd2. dhl, dh2. dh3゜dh4. dh5--
Receiver, 2a, 2b, 2C... Entrance, 3... Discrimination means, 4... Display means, 6... Signal receiving and transmitting device. Figure 4 Figure 5 Procedural amendment July 5, 2017 Address 3-43-2 Ebisu, Shibuya-ku, Tokyo Name Nikkiso Co., Ltd. Representative Isao Chimatsu 4 Agent address 7-chome Nishi-Shinjuku, Shinjuku-ku, Tokyo No. 18-20 Hinase Building 6th Floor 6, "Brief Explanation of Drawings" column 7 of the specification subject to amendment, "Fig. Correct it to "Figure".

Claims (6)

[Claims] (1) A moving object detection means that divides a moving space into arbitrary sections using a plurality of moving object detectors that detect the passage of a moving object; 1. A position detecting device for a moving object, comprising: a determining means for determining a section in which a body exists; and a display means for displaying a section in which the moving object is located, as determined by the determining means. (2) The moving object position detecting device according to claim 1, wherein the moving object detector includes a pair of signal transmitter and receiver. (3) The moving object detector according to claim 1, wherein the moving object detector includes a pair of signal transmitters arranged along a moving space and a pair of receivers corresponding to each of the pair of signal transmitters. Mobile object position detection device. (4) The mobile object detector according to claim 1, wherein the moving object detector includes a plurality of signal transmitters arranged along the vertical direction and a plurality of receivers corresponding to each of the plurality of signal transmitters. Mobile object position detection device. (5) The position detecting device for a moving body according to any one of claims 2 to 4, wherein the receiver receives a signal transmitted from the transmitter. (6) The mobile body includes a signal receiving and transmitting device that transmits a unique identification signal given to the mobile body when the mobile body receives a signal transmitted from the signal transmitter in the mobile body detector, and the mobile body The position detecting device for a moving body according to any one of claims 2 to 4, wherein a receiver in the detector is a receiver that receives the identification signal.