JPH0369047B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention detects two angles formed by a vertex with respect to the side when the length of one side is a predetermined value,
This invention relates to a detection device that uses triangulation to find the distance between a side and a vertex.

Conventionally, there have been devices of this type as shown in FIGS. 1 and 2. In FIG. 1, signals such as ultrasonic waves or light emitted simultaneously from two fixed positions 2 and 3 are received by the receiving unit 4 of the moving body 1, and the distances l ₁ , l from each fixed position are determined from the arrival time. ₂ , and from the distance l between the fixed positions 2 and 3, move the moving body 1 on the plane.
There is a device that detects the position L of . In this case, the transmitting and receiving positions may be reversed from the fixed positions 2 and 3 and the mobile body 1. As another method, as shown in FIG. 2, ultrasonic waves or light signals emitted at a fixed position 2 are passed through the slits of a slit plate 5 having slits in two places and received by an image sensor 6. Then, after signal processing, find l ₁ and l ₂ ,
The distance h between the slit plate 5 and the image sensor 6,
There is a device that detects the distance L from the moving body 1 to the fixed point 2 by detecting the distance between two points received by the image sensor 6 and the angle formed between these two points and the fixed point 2.

Conventional position detection devices for moving objects are configured as described above, so in the case shown in Figure 1, it is necessary to give simultaneous commands to the sending and receiving sides, which may affect measurement accuracy. The moving speed of the moving object also affects the measurement accuracy.

In addition, in the case shown in Figure 2, due to the relationship between the signal incidence angle and the signal bandwidth, as the incidence angle increases,
There were drawbacks such as poor detection accuracy for l ₁ and l ₂ .

This invention was made in order to eliminate the above-mentioned drawbacks of the conventional method, and by directly detecting angles using a group of photodetecting elements arranged circumferentially, measurement accuracy is greatly affected in the case of triangulation. It is an object of the present invention to provide a device for detecting the position of a moving object from the outside world, which can perform angle detection with high precision.

An embodiment of the present invention will be described below with reference to the drawings. In FIG. 3, 7 is a slit plate with a slit in one place, 8 is a group of photodetecting elements arranged in a semicircular shape of the photodetecting element 9, and 24 is a photodetector of which one of the photodetecting element group 8. A photodetection circuit detects whether light is incident on the element, 11 and 12 are binarization circuits to binarize whether or not light is incident (presence: 1, no: 0), 13 is a binarization circuit threshold circuit for
14 and 15 are "1" level detection circuits for detecting the position of the "1" level after binarization among the 180° clockwise and counterclockwise positions, respectively.

In FIG. 4, D is a plane fixedly provided at an arbitrary position in the outside world, and a slit plate 7 is placed on this plane.
and a photodetection element group 8 are provided, and these are provided with the following self-position detection circuit. Also, moving vehicle 1
is provided with light sources 2 and 3, and the movement of the vehicle is controlled so that the line connecting the two light sources 2 and 3 is always parallel to the slit plate 7 provided on the fixed surface D. . 24 is the photodetection circuit explained in FIG. 3, 16 and 17 are sine circuits that generate a sine value for the angle value output from the photodetection circuit 24, and 18 and 19 are sine circuits for (90° - angle value). The sine circuits 20 and 21 that generate the values respectively output the output values of the sine circuit 18 to the sine circuit 16.
and a division circuit for dividing the output value of the sine circuit 19 by the output value of the sine circuit 17;
2 is an adder circuit that adds the output values of the divider circuits 20 and 21, and 23 is a divider circuit that divides la, which is a value corresponding to the distance between the photodetecting element groups 8a and 8b, by the output value of the adder circuit 22. .

Next, the operation will be explained. In Figure 4,
The light from the light sources 2 and 3 passes through the slit of the slit plate 7 and enters one of the photodetecting elements constituting the photodetecting element group 8. The incident angles at this time are θ ₁ and θ ₂ as shown in the figure. When the light detecting elements at positions A and B shown in FIG. 3 receive the incident light, the light detecting elements at positions A and A output an analog voltage value corresponding to the amount of light received. Also, since the positions A and B correspond to θ ₁ and θ ₂ , for example, if the number of elements in the photodetecting element group 8 is 360 on each semicircle, then the position A is located opposite from the point A. Viewed clockwise (θ ₁ 〓/180゜×
There is a (360)th photodetecting element, and similarly, there is a (θ ₁ 〓/180°×360)th photodetecting element at the position A as seen from point B. Furthermore, the analog voltage values of the photodetecting elements located at positions other than A and A are smaller than those of the photodetecting elements located at A and A. Next, the output a of the photodetecting element group 8,
b are input to the binarization circuits 11 and 12, respectively,
Output C of threshold generation circuit 13 and photodetection element group 8
With inputs a _and b from
And only the integer number of (θ ₁ 〓/180゜×360) is “1”
outputs d and e are set to “1” level detection circuit 1.
4 and 15, and the integer numbers of (θ ₂ 〓/180゜×360) and (θ ₁ 〓/180゜×360) are converted into 8-bit data, and the outputs f and g are obtained by the arithmetic circuit shown in FIG. 26
is input to.

Here, in FIG. 4, if the distance from the external fixed plane D to the position of the moving object 1 is L, then L=l/(sin(90-θ ₂ )/sinθ ₂ +sin(90-θ ₁
)/sin θ ₁ ), the 8-bit data f and g obtained corresponding to θ ₁ and θ ₂ are input to the sine circuits 16 and 17.
and sinθ ₁ , sinθ ₂ , sin (90−θ ₁ ), sin obtained by inputting them to the sine circuits 18 and 19, respectively.
The outputs h, i, j, and k, which are the values corresponding to (90−θ ₂ ), are input to the division circuits 20 and 21, and the obtained outputs m and n are input to the addition circuit 22, and the obtained The distance L from the external fixed plane D to the moving body 1 can be detected by the output L obtained by inputting the output P and the value la corresponding to l to the division circuit 23.

In the above embodiment, an example was explained in which the slit plate and the photodetecting element group were provided on one external fixing plane, but the slit plate and the photodetecting element group were also provided on a plane perpendicular to the external fixing plane. If the position is detected using the above-described method, the X-Y position of the moving object can be determined with the point where the two external fixed planes intersect as the origin.

As described above, according to the present invention, by making the incident angle of light correspond to the number of photodetecting element groups arranged on a semicircle, regardless of the relative position between the moving body and the fixed plane, Since the angle can be detected with a certain degree of accuracy, it is possible to obtain a highly refined position detection device for a moving body.

[Brief explanation of drawings]

Figures 1 and 2 are plan views showing conventional examples;
FIGS. 3 and 4 are configuration diagrams showing a position detecting device for a moving object, which is an embodiment of the present invention. 1... Moving body, 2... Light source, 7a, 7b... Light source, 8
...Photodetection element group, D...External world fixed plane.

Claims (1)

[Claims] 1 Detection consisting of a semi-cylindrical body with a group of photo-detecting elements arranged in a semi-circumferential manner fixed to the inner wall, and a slit plate fixed to the semi-cylindrical body and provided on a line connecting both ends of the photo-detecting elements. The detection is performed using the light sources at the two locations of a movable body, in which the device is provided on a fixed surface, light sources are provided at two locations, and the movement of the line connecting the two light sources is controlled so that the fixed surface becomes parallel. 1. A position detection device for a movable body, characterized in that the distance between the fixed surface and the movable body is measured by inputting light into a device.