JPH0651050A - Moving body attitude and three-dimensional position measuring device - Google Patents

Abstract

PURPOSE:To provide a measuring device for the six degree-of-freedom attitude and three-dimensional position of a moving body at each point of time which travels on an ungraded surface of ground. CONSTITUTION:A moving body attitude/three-dimensional position measuring device concerned includes a laser beam transmitting device 11 installed at one reference point and revolving at a constant angular velocity omega and a non- directional signal transmitting device 13. On each moving body 12 are furnished a non-directional signal receiving antenna 15a and at least three line-form photo- sensors 16, 17, 18 arranged upon a vertically traveling table 20, and a CPU calculates the three pieces of coordinates information and three pieces of attitude information about the moving body 12 on the basis of the fed laser beam 19 receiving time signal and the receiving position signal.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention
The present invention relates to a device for measuring dimensional position.

[0002]

2. Description of the Related Art Conventionally, Japanese Patent Application No. 4-66942 discloses a method for measuring the posture and the three-dimensional position of a moving body such as a traveling vehicle, a ship or a special flying body. In this proposal, from the light receiving time information obtained by receiving the turning laser light emitted from one reference point by at least three line type sensors, and the light receiving position information on the optical sensor obtained by the output from each of these light sensors. The posture and the three-dimensional position of the moving body were measured.

[0003]

However, in the above-mentioned conventional proposals, when the surface on which the moving body moves is rough, such as rough terrain or sea surface with high waves, etc. When the turning laser light comes out of the light receiving portion of the line type optical sensor, it becomes impossible to measure the posture and the three-dimensional position of the moving body.

The present invention has been made in view of the above problems, and enables the measurement even when the ground or the like on which the moving body moves has a relatively large undulation or slope. The purpose is to provide a measuring device of this kind.

[0005]

Therefore, in the present invention, this type of posture and three-dimensional position measuring device for a moving body is installed at one reference point, and laser light is emitted at a substantially constant angular velocity of rotation. Laser emitting means for transmitting, signal transmitting means for outputting an omnidirectional signal when the laser light is emitted in a specific direction, and the laser light irradiation position mounted on the moving body to be measured. And at least three photosensors for outputting signals including information on irradiation time, receiving means for receiving the omnidirectional signal, and a light receiving position on each photosensor based on the output from the photosensors. Signal processing means for obtaining the difference, at least three time measuring means for measuring the difference between the laser light reception time of each of the optical sensors and the reception time of the omnidirectional signal, the time measurement information, and the laser light reception. Location information Calculating means for calculating the posture and three-dimensional position of the moving body; a table for arranging the sensors at specific positions; a drive mechanism for moving the table up and down by a required distance; Control means for controlling the drive mechanism so that the laser light does not deviate from these sensors from one output of each optical sensor, and detection means for detecting the height of the table from the reference position. The above-mentioned object is achieved and used by such a constitution.

[0006]

With the configuration of the present invention as described above, the posture and the three-dimensional position of the moving body in six degrees of freedom can be measured. Further, even when the posture information such as the heading angle, the pitching angle, and the rolling angle is unnecessary, the position at each time point can be accurately obtained regardless of the posture, and therefore, when moving on an uneven surface. Best for position recognition. Further, since the height of the vertical movement table is controlled so that the turning laser light can be received at the center of each optical sensor, the measurement can be performed even on a moving surface having unevenness or a relatively large gradient.

[0007]

EXAMPLES The present invention will be described below based on examples. FIG. 1 is a schematic explanatory view of an embodiment of this type of measuring system according to the present invention. This figure is a view as seen from a direction parallel to the laser light turning plane described later.

(Structure) 12 is a moving body such as a vehicle traveling on an uneven ground G or the like, and 11 is a plane at a substantially constant angular velocity ω disposed at one measurement reference point on the ground G. A laser emitting device for emitting a laser beam 19 that swirls above, 14 is an optical sensor arranged in a certain reference direction, and 13 is a laser beam 19 in a certain direction and crosses the same. A signal generator for generating an omnidirectional radio signal by the optical sensor 14, and 13a is its transmitting antenna.

On the other hand, a receiver (not shown) for receiving the omnidirectional signal and an antenna 15a as a sensor for the receiver are provided on the moving body 12, and the receiver is provided on the upper surface of the moving body 12. And a vertical movement table 20 parallel to the vertical movement table 20.
17 and 18 are arranged in such a positional relationship that they are not aligned with each other, and the reception time (t
₀ , t ₁ , t ₂ ) and the light receiving position (ζ ′ ₀ , ζ ′ ₁ , ζ ′ ₂ ) information can be output, as shown in the block diagram of the measurement system and the signal processing circuit in FIG. Each optical sensor 1
Signal processing circuits 35, 36, 3 for 6, 17, 18
7, each timer 42, 43, 44 as a time measuring means, a CPU 51 as a calculating means, and the like.

Further, FIG. 3 shows a vertical sectional view of a drive mechanism for vertically moving the vertically movable table 20 by a required distance. The up-and-down moving table 20 is supported by a vertical shaft 23 having a ball screw groove, and the motor 2 is capable of forward and reverse rotation.
1, the sleeve 24 rotates via the gear 29, and the shaft 24 can be displaced upward / downward by being connected to the sleeve 24 by a ball screw mechanism. Reference numerals 32 and 33 are detent shafts for preventing the vertical movement table 20 from rotating together with the sleeve 24. Reference numeral 22 denotes a detector for detecting the amount of upward / downward movement Z of the table 20 from the reference position.

As each of the line type sensors 16, 17 and 18, an optical position detecting element (PSD), an optical sensor array, etc. may be mentioned, and a vertical movement table 20 and a movement amount detector 22.
Is configured so as to be able to output a signal including movement information from the reference position, and the detecting means may be a rotary encoder for measuring the rotation angle of the motor 21.

(Operation) Next, an operation will be described with reference to FIGS. 1 to 3 and FIG. 4 showing an example of a waveform diagram of an output signal from the signal processing device of FIG. Each line type optical sensor 16,
The orbiting laser light 19 sequentially incident on 17, 18 passes through the respective signal processing circuits 35, 36, 37 and each light reception time signal 39, 40, 41 and the light reception signal position signal 45 on each line sensor. Converted to 46, 47. On the other hand, the omnidirectional wireless entry from the antenna 13a is
When it is received at 5a and input to the processing circuit 34, the pulse signal 38 is immediately generated. Each light reception time signal 39, 4
₀ , 41 and each time interval t ₀ between this pulse signal 38,
Each of t ₁ and t ₂ is a timer 4 as a time measuring means.
At 2, 43 and 44, they are measured and converted into digital signals.

On the other hand, laser light receiving position information 45, 46,
47 is converted into a voltage proportional to each of the light receiving positions ζ ′ ₀ , ζ ′ ₁ , ζ ′ ₂ in each of the signal processing circuits 35, 36 and 37, and digitalized by the A / D converters 48, 49 and 50, respectively. Converted to a signal. Further, the light receiving position signal 45 from the line type optical sensor 16 indicates that the height (moving amount Z) of the vertically movable table 20 indicates that the turning laser beam 19 is the optical sensor 16.
It is also used to control the drive so that the light beam is incident on almost the center of the vertical axis. 22 to counter 5
4, the amount of movement of the vertical movement table 20 is measured. These seven digital signals are calculated / processed by the CPU 51, and three coordinate information (r, θ, z) of the moving body 12 is obtained.
And three posture information, that is, heading angle, pitching angle, and rolling angle (φ, σ, ρ).

(Calculation of Position / Attitude) Next, the coordinates /
An arithmetic expression for obtaining each amount of posture information will be described. Figure 5
FIG. 3 is a diagram showing an example of the geometrical arrangement of the turning laser light 19 and the line type photosensors 16, 17, 18 on the vertical movement table 20 as seen from the direction perpendicular to the laser turning surface. R ₀ , R ₁
, R ₂ is the laser light receiving position of each optical sensor 16, 17, 18 and S ₀ , S ₁ , S ₂ are the positions of the points where the line extending from the center line of each optical sensor intersects the upper surface of the moving body 12. Indicates.
Further, O is the position of the turning laser transmitter 11 in FIG. 1, and P is the position of the optical sensor 14.

The turning angular velocity of the laser beam 19 is ω, and the angles in which R ₀ , R ₁ , and R ₂ are considered from the reference direction are θ ₁ and
Letting θ ₁ and θ ₂ be expressed as θ ₀ = ωt ₀ (1) θ ₁ = ωt ₁ (2) θ ₂ = ωt ₂ (3) Further, letting Z be the amount of movement of the vertical movement table 20, ζ ₀ = Z + ζ ′ ₀ (4) ζ ₁ = Z + ζ ′ ₁ (5) ζ ₂ = Z + ζ ′ ₂ (6), and The distances between the optical sensors are a, b, and c as shown in FIG. 5, and the laser light receiving position distances are A, B, and C, respectively.
Then, A = (a ² + (ζ ₁ −ζ ₀ ) ² ) ^1/2 …… (7) B = (b ² + (ζ ₂ −ζ ₀ ) ² ) ^1/2 …… (8) C _{^{= (c 2 + (ζ 2}} -ζ 1) 2) represented ^1/2 ... (9), immediately measured value _{Z, ζ '0, ζ'} 1, can be calculated from the zeta _'2.

Next, the coordinates of the respective laser beam receiving positions R ₀ , R ₁ and R ₂ are calculated using A, B and C obtained here;

[0017]

[Equation 1]

[0018]

[Equation 2]

[0019]

[Equation 3]

(Other Embodiments) In the above embodiment, the case where the number of line type optical sensors is three has been described, but the number of sensors to be used is not limited to this, and a plurality of sensors may be used. But it doesn't matter. Further, it goes without saying that the displacement mechanism / driving means of the vertical movement table 20 may be modified.

[0021]

As described above, according to the present invention, it is possible to measure the 6-degree-of-freedom posture and the three-dimensional position of this type of moving body, and to adjust the height of the vertically movable table appropriately. By adjusting and controlling, it is possible to follow and measure even a relatively large uneven or inclined moving surface.

[Brief description of drawings]

FIG. 1 is a schematic explanatory diagram of an embodiment of a measurement system.

FIG. 2 is a block diagram of a measurement system and a signal processing circuit on a moving body.

FIG. 3 is a vertical sectional view of a vertically movable table drive mechanism.

FIG. 4 is an example of an output signal waveform diagram from the signal processing device of FIG.

FIG. 5: Example of geometrical arrangement of turning laser light and each optical sensor

[Explanation of symbols]

 11 Laser Light Transmitter 12 Moving Object 13 Omnidirectional Signal Transmitter 16, 17, 18 Line Type Optical Sensor 20 Vertical Moving Table 21 Motor 22 Vertical Moving Distance Detector 34, 35, 36, 37 Signal Processing Circuit 38 Pulse Signal 39 , 40, 41 Light receiving time signal 42, 43, 44 Timer 45, 46, 47 Light receiving position signal 51 CPU

Claims (1)

[Claims] 1. A laser emitting means installed at one reference point for emitting laser light at a substantially constant angular velocity of rotation and an omnidirectional signal when the laser light is emitted in a specific direction. For transmitting the signal, at least three optical sensors mounted on the moving body to be measured for outputting signals including information on the laser light irradiation position and irradiation time, and the omnidirectional signal. Receiving means for receiving, signal processing means for obtaining a light receiving position on each optical sensor from the output from the optical sensor, laser light receiving time of each optical sensor and receiving time of the omnidirectional signal And at least three time measuring means for measuring the difference between the sensor and a specific means for calculating the posture and the three-dimensional position of the moving body from the laser light receiving position information. To place Table, a drive mechanism for moving the table up and down by a required distance, and a drive mechanism for controlling the laser light from the output of one of the optical sensors so that the laser light does not deviate from these sensors. A posture and three-dimensional position measuring apparatus for a moving body, comprising: a control unit and a detection unit for detecting a height of the table from a reference position.