JPH07151558A - Position and azimuth measuring device of moving body - Google Patents

Abstract

PURPOSE:To reduce the measurement error of the device. CONSTITUTION:The distances L1 and L1' between a distance measure Sl and reflectors R1 and R2 are measured by the distance measure S1. Since the coordinates of the reflectors R1 and R2 are known, the coordinates of the distance measure S1 can be determined. Since the R1, S1, and S2 compose a right- angled triangle, the coordinates of the distance L2 and a light receiver/projector S2, and the angle theta between the L1 and a straight line Lx can be determined. And since the L0 is a fixed value, the measurement error is only the errors included in the L1 and L1', and the calculated measurement errors of the position and the advancing bearing of a moving body is made in a very small value.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention includes a fixed point marker which is mounted on a moving body such as an autonomous guided vehicle and has a positional relationship with a fixed point marker installed near the moving route of the moving body. The present invention relates to a position / orientation measuring device for a moving body that measures the position and traveling direction of the moving body in a coordinate system.

[0002]

2. Description of the Related Art Conventionally, for example, an autonomous guided vehicle has been provided with a travel control device for guiding itself along a preset travel route. This travel control device calculates the current position and traveling azimuth by measuring and integrating the traveling distance and traveling azimuth of the autonomous guided vehicle, and then calculates the traveling direction and steering amount, etc. It controlled the traveling of the carrier.

In this autonomous guided traveling, an error has occurred in the integrated value of the traveling distance due to, for example, the unevenness of the road surface, the deformation of the tire due to the load of the load, the accuracy of the measuring device and the like. Further, the same error occurs in the traveling azimuth calculated by integrating the azimuth changes up to the current position. Therefore, the position and direction of the autonomous guided vehicle are measured with reference to a fixed-point sign installed near the travel route while maintaining an appropriate distance,
The current position and the traveling azimuth calculated by the traveling control device have been corrected based on the measured value.

As a position / direction measuring device for measuring the position and direction of an autonomous guided vehicle with respect to a fixed point for use in such position and direction correction, two laser radar systems are used for a moving body (vehicle). A range finder is installed, and a pair of reflectors installed side by side along the travel route as the vehicle travels is sequentially irradiated with beams from two laser radar range finders, and each reflector and laser radar type There is disclosed a method of measuring the distance to a rangefinder and calculating the position and direction of the vehicle based on these measured values and the traveling distance of the vehicle during the measurement (Hawa, et al; Azimuth measuring device (2nd report) ", 5th Advantage Symposium, pp29-32, Osaka, 1992). This method
This is a method in which four reflected lights are detected while moving the vehicle and surveying is performed, and the moving distance of the vehicle measured by an encoder that works with the wheels is used as the distance of the base line of triangulation.

[0005]

However, in the above-mentioned conventional method, the measurement value of the encoder used as the distance of the base line of triangulation is, for example, the unevenness of the road surface, the deformation of the tire due to the load of the load or the accuracy of the encoder. Therefore, the measured vehicle position and azimuth cannot avoid the measurement error corresponding to the encoder measurement error.

[0006]

In order to solve the above-mentioned problems, a moving body position / orientation measuring apparatus according to a first invention of the present application comprises a first reflector installed on a fixed point and the first reflector. By measuring the distance to a second reflector installed while maintaining a predetermined distance in the horizontal direction with respect to the reflector, the position of the moving body on which the self is loaded and the moving direction of the moving body are measured. A position / orientation measuring device, which is arranged on a measurement base line set on a moving body, and light emitted along a direction substantially perpendicular to the measurement base line is reflected by the first reflector. And a light emitting / receiving device that outputs a measurement start signal when receiving the light, and the light emitting / receiving device is arranged on the measurement base line with a predetermined distance from the light emitting / receiving device. The light is received by the reflected light reflected by the first and second reflectors and And a distance measuring device for measuring the distance between the second reflector and itself, and an arithmetic means for calculating the position and traveling direction of the moving body in the coordinate system including the fixed point based on the measurement value of the distance measuring device. Is provided.

The position / orientation measuring device for a moving body according to the second aspect of the present invention comprises a first reflector installed on a fixed point and the first reflector.
Moving body for measuring the position and traveling direction of the moving body on which it is mounted by measuring the distance to a second reflector installed while keeping a predetermined distance in the horizontal direction with respect to the reflector of Of the position / orientation measuring device, which is arranged on a measurement base line set on a moving body, emits light, and the emitted light receives the reflected light reflected by the first reflector. In addition to measuring the distance between the first reflector and itself,
A first distance measuring device that outputs a measurement start signal when receiving the reflected light from the reflector of the first and the first distance measuring device on the measurement baseline.
Is placed at a predetermined distance from the distance measuring device, receives the measurement start signal and emits light, and the emitted light receives reflected light reflected by the first and second reflectors and receives the reflected light. A second distance measuring device that measures the distance between the first and second reflectors and itself; and of the moving body in a coordinate system that includes the fixed point based on the measured values of the first and second distance measuring devices. An arithmetic means for calculating the position and the heading is provided.

[0008]

In the position / orientation measuring device for a moving body according to the first aspect of the present invention, the light emitter / receiver arranged on the measuring base line set on the moving body emits light along a direction substantially perpendicular to the measuring base line. To do. The light emitter / receiver outputs a measurement start signal when the emitted light receives the reflected light reflected by the first reflector installed on the fixed point. The distance measuring device installed on the measurement base line with a predetermined distance from the light emitting and receiving device emits light upon receiving a measurement start signal from the light emitting and receiving device, and the emitted light emits the first reflector and the first reflector. Of the first reflector and the second reflector, which receives the reflected light reflected by the second reflector installed at a predetermined distance in the horizontal direction with respect to the first reflector, and measures the distance between itself and the second reflector. . Further, the calculating means calculates the position and the traveling azimuth of the moving body in the coordinate system including the fixed point based on the measurement value of the distance measuring device.

Here, the principle of calculation by the calculation means will be described in detail with reference to FIG. In FIG. 8, the first reflector R1 is a fixed point (x0, y) set in a xy coordinate system with a starting point of a moving body as an origin.
0), the second reflector R2 is located on a straight line Lx parallel to the x axis and passing through a fixed point at a point (x0 + X0, y0) at a predetermined distance from the first reflector R1. is set up. On the other hand, the distance measuring device S1 (coordinates in the illustrated state are (x1, y1)) is arranged at one end of the measurement base line L0 set on the moving body, and the light emitting / receiving device S2 (the illustrated condition is shown). The coordinates at (x2, y2)) are arranged. The irradiation direction of the light emitter / receiver S2 is set to 90 degrees with respect to the measurement base line L0.

Now, assuming that the light emitted from the light emitter / receiver S2 and reflected by the reflector R1 is received by the light emitter / receiver S2, the distance measuring device S1 irradiates the light, and the light is reflected by the reflector R.
The distances L1 and L1 ′ between itself and the reflectors R1 and R2 are measured from the timing of receiving the reflected light reflected by 1 and R2.

At this time, the following relationship is established.

[0012]

[Equation 1]

From equations (1) and (2),

[0014]

[Equation 2]

Therefore,

[0016]

[Equation 3]

And using equations (1) and (4)

[0018]

[Equation 4]

It becomes Therefore, the coordinates (x1, y1) of the distance measuring device S1 can be determined. In addition, R1 (x0, y
0), S1 (x1, y1) and S2 (x2, y2) form a right-angled triangle, the distance L2, the light emitter / receiver S
Two coordinates (x2, y2) and the angle θ between the straight line L2 and the straight line Lx can be determined. The description of these calculation procedures is omitted.

In this way, S1 (x1, y1), S
Since 2 (x2, y2) and θ can be determined, a predetermined point on the moving body, for example, coordinates of the geometrical center when the moving body is projected on a plane (= position of the moving body) and the xy coordinate system described above. It is possible to calculate the direction of the axis of the moving body (= travel direction).

The only measurement values used in the determination of the position and traveling direction of the moving body are L1 and L1 '.
Since 0 is a fixed value, for example, compared with the prior art in which the moving distance of the vehicle measured by an encoder that works with wheels is used as the distance of the base line of triangulation, the calculated position and traveling direction of the moving body are compared. The measurement error is extremely small.

In the moving body position / orientation measuring apparatus of the second invention, the first distance measuring device collects the reflected light reflected by the first reflector installed on the fixed point. When the light is received and the distance between the first reflector and itself is measured, a measurement start signal is output when the reflected light from the first reflector is received. The second distance measuring device receiving this output signal,
Receiving the reflected light reflected by the first reflector and the second reflector installed at a predetermined horizontal distance from the first reflector. Measure the distance between the first and second reflectors and themselves. Further, the calculation means calculates the position and the traveling direction of the moving body in the coordinate system including the fixed point based on the measurement values of the first and second distance measuring devices.

In the second invention, L1, L1 'and L2 in the first invention are measured. R1
(X0, y0), R2 (x0 + X0, y0) and L0
Is known, the triangle R1,
R2, S1 and triangles R1, S1, S2 are established. Therefore, similar to the first invention, a predetermined point on the moving body, for example, the coordinates of the geometric center when the moving body is projected on a plane (= position of the moving body) and the axis of the moving body in the xy coordinate system. The direction (= advancing direction) can be calculated.

In the determination of the position and traveling direction of the moving body in the moving body position / direction measuring apparatus of the second invention, three measured values L1, L1 'and L2 are used, but L0 is a fixed value. Therefore, for example, as compared with the conventional technique that uses the moving distance of the vehicle measured by an encoder linked to the wheels as the distance of the base line of triangulation, the measurement error of the calculated position and traveling direction of the moving body is extremely small. Become.

[0025]

EXAMPLES Next, examples of the present invention will be described. FIG. 1 shows a schematic shape of an autonomous guided vehicle (hereinafter, also simply referred to as a vehicle) 10 as a moving body of the present invention. The autonomous guided vehicle 10 has a structure which is roughly divided into a loading platform 12 for mounting articles to be transported and a storage section 14 for storing devices for traveling control. A laser radar type distance measuring device (hereinafter, also simply referred to as a distance measuring device) 16 is installed on the side of the storage unit 14 on one side surface of the loading platform 12, and a laser type reflected light sensor (hereinafter, simply referred to as reflected light) on the rear side. (Also referred to as a sensor) 18 is installed.

As shown in FIG. 2, the distance measuring device 16 includes an upper projector 16a and a lower projector 1 which emit laser light.
6b, and light receivers 16c and 16d for receiving the reflected lights of the laser light emitted from the upper and lower projectors 16a and 16b, respectively, by the object. In addition, the distance measuring device 16
It has a well-known microcomputer and controls the upper and lower projectors 16a and 16b to blink, and the light emitted from the upper and lower projectors 16a and 16b is reflected by an object and received by the light receivers 16c and 16d as reflected light. A control circuit 16e for calculating the distance between the distance measuring device 16 and the object from the timing of output and outputting it as measured value data D is provided.

As shown in FIG. 3, the upper projector 16a and the lower projector 16b are arranged at a predetermined distance K along the z-axis direction (vertical direction). These upper and lower projectors 16a, 16b are set in a spot pattern that is wide in the horizontal direction and extremely narrow in the vertical direction.
As shown in FIG. 1, the irradiation axis is adjusted so as to irradiate the laser beam in the range indicated by the arrow R along the substantially horizontal direction toward the rear side of the carrier vehicle 10.

As shown in FIG. 2, the reflected light sensor 18 is
A light projector 18a that emits laser light, a light receiver 18b that receives reflected light of an object of the laser light emitted from the light projector 18a, and blinking of the light projector 18a are controlled, and the light emitted from the light projector 18a is reflected by the object and reflected light. Measurement start signal G when the light is received by the light receiver 18b as
Is provided with a control circuit 18c for outputting. Floodlight 18a
The light is emitted from the vehicle 10 while the vehicle 10 is traveling, for example.
It is a configuration that is repeatedly performed at 0 times / second to 1000 times / second, and is substantially fired without interruption. The measurement start signal G from the control circuit 18c is input to the control circuit 16e of the distance measuring device 16.

As shown in FIG. 1, the irradiation axis of the light projector 18a is adjusted so as to be substantially perpendicular to the longitudinal axis 10a of the vehicle 10 and substantially parallel to the road surface. Further, as shown in FIG. 3, the spot pattern of the projector 18a is set to a very narrow and sharp spot pattern in both the vertical and horizontal directions. The light projector 18a and the lower light projector 16b of the distance measuring device 16 are
When the transport vehicle 10 is on the traveling road, the vehicles are mounted at positions where their heights from the traveling road are substantially the same, and the straight line connecting the projector 18a and the lower projector 16b is the measurement base line B. ing.

As shown in FIG. 2, the measurement start signal G from the control circuit 18c of the reflected light sensor 18 is accommodated in the storage section 14 of the transport vehicle 10 and controls the transport vehicle 10 for autonomous guided travel. In this configuration, the trigger signal T is input to 20. Further, the traveling control device 20 is also configured to receive the measurement value data D output from the control circuit 16e of the distance measuring device 16. The traveling control device 20 is a CP
A well-known microcomputer including a U, a RAM, a ROM, an A / D converter, and the like is built in, various processes can be executed according to a program stored in advance, and the function as the arithmetic means of the present invention is provided. That is, the distance measuring device 16, the reflected light sensor 18 and the traveling control device 20 described above constitute a position / direction measuring device 25. Further, the travel control device 20 has various functions for guiding the transport vehicle 10 to travel along the set travel route, but detailed description thereof will be omitted.

FIG. 4 is a diagram illustrating a traveling route C of the transport vehicle 10. The transport vehicle 10 travels along a travel route C that is set in advance.
A plurality of fixed points Pn are set according to the traveling conditions such as the traveling speed. These fixed points Pn are coordinates (xn, y) in an xy coordinate system whose origin O is the starting point of the travel route C, for example.
n) is attached, and the coordinate data thereof are stored in advance in the travel control device 20.

Further, the reflection unit 30 shown in FIG. 5 is installed for each fixed point Pn. This reflection unit 3
0 is fixed by driving the support column 32 into the ground. Two arms 34a and 34b project horizontally from the support column 32, and each of them has a substantially cylindrical reflector 36 at the tip thereof.
a and 36b are fixed.

The reflectors 36a and 36b have substantially the same shape, and the surface portion has a structure in which a large number of minute planes, each of which faces a random direction, are assembled, and diffused diffuse reflection of the irradiated light is possible. Of the pair of reflectors 36a and 36b, the reflector 36b located on the lower side is installed such that its central axis is exactly on the fixed point Pn, and the upper reflector 36a is
The central axis is installed at a position separated from the fixed point Pn along the x axis by a set distance d. Further reflector 36
The height h of the center of b is the lower light projector 16 of the distance measuring device 16.
b and the height of the reflected light sensor 18 from the projector 18a of the reflected light sensor 18 from the traveling road surface. The height difference between the reflector 36a and the reflector 36b is substantially equal to the height difference K between the upper light projector 16a and the lower light projector 16b of the distance measuring device 16.

With this configuration, the lower light projector 16b of the distance measuring device 16 and the light projector 18a of the reflected light sensor 18 are provided.
The light emitted from the reflector 3 on the lower side of the reflection unit 30
6a, and the light from the upper projector 16a of the distance measuring device 16 is reflected by the upper reflector 36 of the reflection unit 30.
You will hit b. Moreover, both reflectors 36a, 36
Since both b are long in the vertical direction, even if the light beams emitted from the light projectors 16a, 16b, and 18a move up and down due to, for example, vibration of the transport vehicle 10, the light beams are reflected by the reflector 36.
It is very unlikely that it will pass above or below a, 36b.

Next, the operation of the distance measuring device 16 and the reflected light sensor 18 configured as described above and the processing executed by the traveling control device 20 will be described. First, when the transport vehicle 10 starts traveling, the traveling control device 20 executes a traveling control routine shown in FIG. In the traveling control routine, the guided vehicle 1 is moved along a preset traveling route C.
In order to drive 0, calculation of the steering amount based on the traveling azimuth calculated by integrating the integrated value of the traveling distance and the azimuth change, instruction of the steering amount, speed control, confirmation of the presence or absence of obstacles,
Well-known processing such as determination that the destination has been reached is executed. This traveling control routine is repeatedly executed at predetermined time intervals until the vehicle 10 reaches the destination and stops, for example.

Further, the reflected light sensor 18 is operated in accordance with the start of traveling of the transport vehicle 10. To be precise, the control circuit 18c
The projector 18a controlled by a predetermined time interval,
For example, the light beam is emitted at 100 times / second. This light beam is, for example, a reflection unit 30 installed at a fixed point P1.
When it hits the lower reflector 36b, the light is diffusely diffused and diffused in all directions. When a part of the light reflected by the reflector 36b is received by the light receiver 18b, the light receiver 18b outputs a light reception signal. When this light reception signal is input to the control circuit 18c, the control circuit 18c outputs the measurement start signal G. The measurement start signal G is input to the control circuit 16e of the distance measuring device 16. When the measurement start signal G is input, the control circuit 16e of the distance measuring device 16 sends a signal to turn on the upper and lower projectors 16a and 16b. Further, the control circuit 16e controls the reflection unit 30 in which the light emitted from the lower projector 16b is installed at the fixed point P1.
The distance L1 between the light projector 16a and the light receiver 16d is calculated from the time until the light is reflected by the lower reflector 36b and received by the light receiver 16d, and the light emitted from the light projector 16a is reflected by the upper reflector 36a. The distance L1 ′ between the projector 16a and the light receiver 16c is calculated from the time until the light is reflected and received by the light receiver 16c, and L1 and L1 ′ are measured value data D.
Memorize as.

The measurement start signal G output from the above-described reflected light sensor 18 is used as the trigger signal T as the traveling control device 20.
Is also entered. Hereinafter, according to FIG. 7, the traveling control device 2
The measurement routine executed at 0 will be described.
Note that this measurement routine is repeatedly executed at predetermined time intervals in the traveling control device 20 while the transport vehicle 10 is traveling.

In the measurement routine, first, the reflected light sensor 18
The presence or absence of the input of the trigger signal T from is determined (step 110). If T is input, the process proceeds to the next step 120, and if T is not input, the measurement routine ends. In step 120, the travel control device 20 determines that the distance measuring device 16
Is requested to output measurement value data D. Then, the measurement value data D (L1 and L1 ') output from the distance measuring device 16 is read (step 130). Next, the coordinates of the fixed points P1 (= reflector 36b) stored in advance and the previously read L1 and L1 ′, the coordinates of the reflector 36a, and the distance between the distance measuring device 16 and the reflected light sensor 18 (measurement base line B 8, the coordinates of the distance measuring device 16 (S1 (x1, y1) in FIG. 8) and the coordinates of the reflected light sensor 18 (S2 (x2, y2 in FIG. 8) based on the relationship shown in FIG. ) And an angle θ between a straight line Lx that is parallel to the x-axis and passes through the fixed point P1 and a straight line L2 that connects the fixed point P1 and the reflected light sensor 18, and calculate the position of the transport vehicle 10 (for example, the coordinates of the center point of the vehicle). ) And the traveling direction of the carrier vehicle 10 are calculated (step 140). Further, the calculated position and traveling direction of the carrier 10 are stored in a predetermined memory (step 15
0), this routine ends. The position and traveling direction of the carrier 10 stored in the memory are used as correction data for the current position and current traveling direction of the carrier 10 in the travel control device 20. The fixed point Pn is specified according to the number (the number) of the fixed points Pn that have passed from the starting point of the travel route C to the present.

In the traveling control device 20 described above, the only measured values used in determining the position and traveling direction of the carrier vehicle 10 are L1 and L1 ', and L0 is a fixed value. Compared with the prior art in which the calculated travel distance of the vehicle is used as the distance of the triangulation base line, the calculated measurement error of the position and heading of the transport vehicle 10 becomes extremely small.

Further, since the measurement error of the position and traveling direction of the carrier vehicle 10 is extremely small, the deviation of the current position of the carrier vehicle 10 from the set traveling route can be accurately determined. Therefore, it becomes possible to guide the transport vehicle 10 more accurately along the set traveling route, and for example, the transport vehicle 10 can be guided.
It is possible to make the traveling speed of the vehicle faster than before and to reduce the number of fixed points for correction installed near the traveling route than ever before.

Further, instead of the reflected light sensor 18 of the above-mentioned embodiment, a distance measuring device having one light emitter and one light receiver and capable of outputting a measurement start signal when the reflected light is received may be used. For example, the distance L2 between the distance measuring device and the reflector 36a and the distances L1 and L between the distance measuring device 16 and the reflectors 36b and 36a.
1'can be measured. The coordinates of the three measured values and the fixed point Pn (= reflector 36b) stored in advance, the reflector 36a
Based on the coordinates and the distance between the distance measuring device 16 and the reflected light sensor 18 (the length of the measurement base line B, L0), the position and traveling direction of the transport vehicle 10 can be calculated by geometrical calculation. In this case, since L2 is measured by the distance measuring device instead of the reflected light sensor 18, the projection direction of this distance measuring device is perpendicular to the straight line (measuring base line) connecting this distance measuring device and the distance measuring device 16. You don't have to. Therefore,
In this respect, the degree of freedom is high.

With such a structure, three measured values L are determined in determining the position and traveling direction of the carrier vehicle 10.
1, L1 ′ and L2 are used, but L0 is a fixed value, so that, for example, in comparison with the prior art in which the moving distance of the vehicle measured by an encoder associated with the wheels is used as the distance of the triangulation base line. , The measurement error of the calculated position and traveling direction of the moving body becomes extremely small.

Although the present invention has been described above according to the embodiments, the present invention is not limited to such embodiments and can be variously implemented without departing from the scope of the present invention. For example, although one set of reflectors is installed on a straight line along the x-axis in the above embodiment, they may be installed on a straight line along the y-axis. Further, although the arithmetic processing becomes a little complicated, it is possible to install a set of reflectors not along the x axis or the y axis. Since the light from the reflected light sensor and the distance measuring device will illuminate approximately one side of the reflector,
In the above embodiment, the reflector having a substantially cylindrical shape may be formed by vertically dividing a cylinder into two. The material of the reflector is not limited as long as it can diffusely reflect the emitted light. Examples of such diffused diffused reflection include diffused reflection mirrors installed on the road side of roads, separation zones, and the like, and reflection tape coated with glass powder and the like. In the above-mentioned embodiment, no special surface treatment is applied to the pillars and arms supporting the reflector, but in order to weaken the reflected light and relatively enhance the reflected light from the reflector, a matte treatment is applied to these. May be given.

As the distance measuring device, in addition to the laser radar type distance measuring device exemplified above, one having a structure for irradiating the target object with light and measuring the distance to the target object by the reflected light is used. it can. Similarly, the light emitter / receiver is not limited to the laser type. In the above embodiment, the reflection unit is installed only on the right side of the traveling vehicle, but it may be installed on both sides of the traveling route in consideration of the reciprocating traveling of the transportation vehicle. Alternatively, a distance measuring device and a light emitting / receiving device (or another distance measuring device) may be installed on the right and left sides of the traveling direction of the transport vehicle so that the transport vehicle can travel back and forth.

Further, in the above embodiment, the traveling control device is used as the calculating means, but in addition to the traveling control device,
It is also possible to provide a device corresponding to the calculation means. In addition,
Needless to say, even if the above-mentioned distance measuring device and light emitting / receiving device (or other distance measuring device) are installed on the road side and two reflectors are attached to the vehicle, the position of the vehicle is the same as above. -Azimuth can be measured.

[0046]

As described above, the position / orientation measuring device for a moving body according to the present invention has an extremely small measurement error in the position and traveling direction of the moving body.

[Brief description of drawings]

FIG. 1 is an explanatory diagram of a schematic configuration of an autonomous guided vehicle of an embodiment, FIG. 1 (a) corresponds to a plan view, and FIG. 1 (b) corresponds to a side view.

FIG. 2 is a block diagram illustrating a configuration of a position / direction measuring device according to an embodiment.

FIG. 3 is an explanatory diagram of spot patterns of a laser radar type distance measuring device and a laser type reflected light sensor of the position / azimuth measuring device of the embodiment.

FIG. 4 is an explanatory diagram of a travel route of the autonomous guided vehicle according to the embodiment.

FIG. 5 is a perspective view of a reflection unit according to an embodiment.

FIG. 6 is a flowchart of a travel control routine in the travel control device of the embodiment.

FIG. 7 is a flowchart of a measurement routine in the traveling control device according to the embodiment.

FIG. 8 is an explanatory diagram of a calculation principle in the position / orientation measuring device for a moving body of the first invention.

[Explanation of symbols]

 10 ... Autonomous guided vehicle, 16 ... Laser radar type distance measuring device (distance measuring device), 18 ... Laser type reflected light sensor (emitter / receiver), 20 ... Travel control device (calculation) Means), 25 ... Position / orientation measuring device, 36a ... Reflector (second reflector), 36b ... Reflector (first reflector), B ... Measurement baseline.

Claims (2)

[Claims] 1. Measuring a distance between a first reflector installed on a fixed point and a second reflector installed while keeping a predetermined distance in the horizontal direction with respect to the first reflector. Is a position / orientation measuring device for a moving body that measures the position and traveling direction of the moving body on which it is loaded, and is arranged on a measuring base line set on the moving body, and is almost aligned with the measuring base line. A light emitter / receiver that outputs a measurement start signal when the light emitted along the vertical direction is reflected by the first reflector, and a predetermined distance from the light emitter / receiver on the measurement base line. And irradiate light upon receiving the measurement start signal, and the reflected light reflected by the irradiating light is reflected by the first and second reflectors to receive the first and second reflections. Distance measuring device that measures the distance between the device and itself, and based on the measured value of the distance measuring device A position / orientation measuring device for a mobile body, comprising: a calculating means for calculating a position and a traveling direction of the mobile body in a coordinate system including the fixed point. 2. A distance between a first reflector installed on a fixed point and a second reflector installed while keeping a predetermined distance in the horizontal direction with respect to the first reflector. A moving body position / orientation measuring device for measuring the position and traveling azimuth of the moving body on which the device itself is loaded, which is arranged on a measurement base line set on the moving body to irradiate light. When the irradiated light receives the reflected light reflected by the first reflector to measure the distance between the first reflector and itself, and when the reflected light from the first reflector is received. A first distance measuring device that outputs a measurement start signal, and a predetermined distance from the first distance measuring device on the measurement base line, irradiates light upon receiving the measurement start signal, and irradiates the irradiated light. Receives the reflected light reflected by the first and second reflectors, and receives the reflected light from the first and second reflectors. A second distance measuring device that measures a distance between the shooting device and itself, and a position and a traveling direction of the moving body in a coordinate system including the fixed point based on the measurement values of the first and second distance measuring devices. A position / orientation measuring device for a mobile body, which is provided with a calculating means for calculating.