JPH07190768A - Bearing detecting device for moving body - Google Patents

Abstract

PURPOSE:To avoid the complication of a device without providing any special means on a moving body by detecting the bearing of the moving body on the basis of a difference between a luminous shape on an image pickup screen for a luminous body laid on the moving body and a reference luminous shape. CONSTITUTION:A both-sided automatic tracking device B finds the angles theta a and thetab of a luminous body 20 on the basis of the angle alpha in each image sensor S and the optical axis angle theta s, and transmits information on the angles theta a and theta b to a work vehicle A. Thereafter, the left side device B turns and tracks the sensor S with a slewing amount DELTA theta. The vehicle A calculates the current position on the basis of received information. Then, the left side device B calculates the aspect ratio h/v of the luminous shape of the body 20 and transmits information on the ratio to the vehicle A. As a result, the vehicle A performs adjusting operation for rotating a cover 20b so as to make the luminous shape equal to a specified shape, on the basis of the calculated aspect ratio h/v, and transmits adjusting amount information to the right side device B. The right side device B calculates the bearing of the vehicle A from the angle theta b of the luminous body 20 and the adjusting amount information, when the ratio h/v is equal to 0.5, and transmits information on the bearing to the vehicle A. Thereafter, the right side device B also turns and tracks the sensor S with a slewing amount DELTA theta.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an azimuth detecting apparatus for a moving body.

[0002]

2. Description of the Related Art In such an azimuth detecting device for a moving body, for example, a direction of a work stroke in which a working vehicle as a moving body travels is set as a reference azimuth on the ground side, and an azimuth detecting device such as an azimuth sensor utilizing geomagnetism is used. The means is installed in the moving body, and the azimuth of the moving body is detected with respect to the reference azimuth based on the detection information of the azimuth sensor or the like. By the way,
This azimuth information is used, for example, for guidance control of the moving body. Although position information as well as azimuth information is necessary for guidance control of a moving body, for position detection, for example, a light emitting body such as a light bulb is provided on the moving body side, and this light emitting body is provided on the ground side. Image pickup means such as an image sensor, and while performing the tracking control for adjusting the image pickup angle so that the light emitting body is captured at a predetermined position (for example, the screen center) within the image pickup screen, the image pickup angle information of the image pickup means, For example, the position of the moving body is measured by the light emitting body measured by a laser range finder, that is, the distance information to the moving body.

[0003]

However, in the above-mentioned prior art, in order to detect the azimuth of the moving body, it is necessary to provide a special detecting means such as an azimuth sensor on the side of the moving body, which complicates the device structure of the moving body. There was a problem that became.

The present invention has been made in view of the above circumstances, and an object thereof is to provide, for example, guidance control of a moving body without providing a special detecting means such as a direction sensor on the moving body side. It is intended to make effective use of the above-mentioned light-emitting body, image pickup means, and the like so that the direction of the moving body can be detected while avoiding complication of the apparatus configuration as much as possible.

[0005]

According to a first characteristic configuration of an apparatus for detecting a direction of a moving body according to the present invention, a light emitting body whose light emitting shape changes in accordance with a change in a viewing direction is installed in the moving body. An image pickup means for picking up the light emitting body on the ground side, and a tracking control means for operating the image pickup angle adjusting means of the image pickup means so as to catch the light emitting body at a predetermined position within an image pickup screen of the image pickup means, An image capturing angle detecting means for detecting an image capturing angle of the image capturing means, a light emitting shape of the light emitting body on an image capturing screen of the image capturing means, and a moving body as a reference according to an image capturing angle detected by the image capturing angle detecting means. The azimuth detecting means is provided for detecting the azimuth of the moving body based on the difference from the reference light emission shape obtained as the shape in the state of facing the direction.

In a second characteristic configuration, the light emitting shape of the moving body becomes a specific shape when viewed from a specific direction, and the light emitting shape changes as the viewing direction changes from the specific direction. An illuminant whose shape changes is installed, an image pickup means for picking up the illuminant on the ground side, and an image pickup angle adjusting means of the image pickup means so as to catch the illuminant at a predetermined position within an image pickup screen of the image pickup means. Tracking control means for activating, an imaging angle detection means for detecting an imaging angle of the imaging means, and information on a difference between the light emission shape of the light emitter and the specific shape on the image pickup screen of the image pickup means on the light emitter side. An image pickup means side communication means for transmitting toward the light emitting body side communication means for receiving the difference information transmitted from the image pickup means side communication means to the moving body, and information received by the light emitter side communication means. Based on So that the light emission shape of the emitters in the imaging screen of the imaging means have become the predetermined shape, and the light emitting shape adjusting means for adjusting changes the specific direction,
A light emission shape adjustment amount detection means for detecting an adjustment amount of the light emission shape adjustment means from a reference adjustment state is provided, and the light emitter side communication means detects the adjustment amount information detected by the light emission shape adjustment amount detection means. Is transmitted to the image-capturing means-side communication means, and on the ground side of the moving body based on the image-capturing angle information of the image-capturing angle detecting means and the adjustment amount information received by the image-capturing means-side communication means. The azimuth detecting means for detecting the azimuth is provided.

In a third characteristic structure, the light emitting body is composed of a spherical light emitting portion and a hemispherical cover that covers a lateral half of the spherical outer peripheral surface of the light emitting portion. The adjusting means is constituted by a rotating means for rotating the cover around the longitudinal axis in a state where the specific shape is a vertical semicircular shape.

[0008]

According to the first characteristic configuration of the present invention, the tracking for adjusting the image pickup angle of the image pickup means so that the light emitting body provided on the moving body is captured at a predetermined position in the image pickup screen of the image pickup means provided on the ground side. Control is performed. Then, according to the image pickup angle of the image pickup means at that time, the reference light emission shape is obtained as a shape of the state in which the moving body is oriented in the reference direction (for example, the direction of the reference azimuth set on the ground side), and the reference light emission is obtained. The azimuth of the moving body is detected as an angle with respect to the reference azimuth based on the difference between the shape and the light emitting shape of the light emitting body on the image pickup screen of the image pickup means.

According to the second characteristic configuration, tracking control for adjusting the image pickup angle of the image pickup means so that the light emitting body provided on the moving body is captured at a predetermined position within the image pickup screen of the image pickup means provided on the ground side. Then, information on the difference between the light emitting shape of the light emitting body on the image pickup screen of the image pickup means and the specific shape when the light emitting body is viewed from the specific direction is transmitted toward the light emitting body, that is, the moving body side. Then, in the moving body, based on the information on the difference, the light emitting shape of the light emitting body on the image pickup screen of the image pickup means becomes the specific shape, that is, the light emitting shape adjusting means sets the specific direction so that there is no difference between the two shapes. The adjustment amount information is changed and adjusted, and the adjustment amount information in which the adjustment amount is detected as the adjustment amount from the reference adjustment state is transmitted to the imaging unit side. Then, on the ground side, the azimuth of the moving body is detected based on the change adjustment amount information from the reference adjustment state and the imaging angle information.

Further, according to the third characteristic configuration, on the moving body side, the light emitting shape of the light emitting body on the image pickup screen of the image pickup means,
Based on the information on the difference from the semicircular shape in the vertical posture, which is the specific shape, the spherical shape of the spherical light emitting portion is adjusted so that the light emitting shape of the light emitting body in the image pickup screen of the image pickup means becomes the semicircular shape in the vertical posture. The hemispherical cover that covers the lateral half of the outer peripheral surface is rotated, and the amount of rotation is detected as the amount of rotation from the reference adjustment state (in this case, the reference rotation position). Then, on the ground side, the azimuth of the mobile body is detected based on the rotation amount information and the imaging angle information from the reference adjustment state transmitted from the mobile body side.

[0011]

According to the first characteristic configuration of the present invention, for example, the light-emitting shape of the light-emitting body installed on the side of the moving body for guiding control of the moving body is changed depending on the viewing direction. By simply adding a simple configuration such as covering the surface of the light emitting part with a shielding film formed with a light transmitting part of a specific shape,
Since the azimuth of the moving body can be detected from the image pickup information of the image pickup means provided on the ground side, it is not necessary to provide a special detecting means such as an azimuth sensor on the moving body side as in the conventional case, and the complexity of the device configuration is minimized. It became possible to detect the direction of a moving body while avoiding it.

Further, according to the second characteristic configuration, for example, the light emitting shape of the light emitting body installed on the side of the moving body for guiding control of the moving body and the like changes from the specific shape depending on the viewing direction, and also changes. Since the light emitting shape is adjusted so as to be maintained in a specific shape, and the orientation of the moving body can be detected by the adjustment amount information and the image pickup information of the image pickup means provided on the ground side,
Unlike the conventional case, it is not necessary to provide a special detecting means such as an azimuth sensor on the moving body side, and it is possible to simultaneously detect the azimuth of the moving body with higher accuracy while avoiding complication of the apparatus configuration as much as possible.

Further, according to the third characteristic configuration, maintaining the light emitting shape of the light emitting body which changes from the specific shape depending on the viewing direction causes the cover for covering the light emitting portion of the light emitting body and the cover to move. It is realized by rotating means such as an electric motor, and therefore, the preferable means of the second characteristic configuration can be obtained.

[0014]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIGS. 1 and 2, a light emitting body 20 including a circular light bulb 20a and the like is installed in an automatic traveling work vehicle A as a moving body, and on the other hand, as an image capturing means for capturing an image of the light emitting body 20. The two image sensors S are provided in each of the two automatic tracking devices B fixedly installed on the ground side in a state in which the two image sensors S are separated by the distance Ls.

The light emitting body 20 is composed of a light bulb 20a as a spherical light emitting portion and a hemispherical cover 20b which covers a lateral half of the spherical outer peripheral surface of the light bulb 20a.
It is installed at the tip of the column 19 on the work vehicle A. still,
The light bulb 20a is continuously lit by a power source (not shown). The hemispherical cover 20a is rotatably supported around the longitudinal axis at the lower end portion thereof,
An annular rack gear r formed on the outer peripheral surface of the lower portion is engaged with a pinion gear p rotated by a cover rotating motor 23 held by the support column 19.
Is operated, it is possible to rotate the hemispherical cover 20b around the longitudinal axis in a state of covering half of the spherical outer peripheral surface of the light bulb 20a in the lateral direction. The cover rotation motor 23 is provided with an encoder 23a for detecting the amount of rotation thereof.

In the above, the cover rotation motor 23 is operated to move the position where the hemispherical cover 20b covers the outer peripheral surface of the light bulb 20a, whereby the luminous body 20 is
When the work vehicle A is viewed from a specific direction (for example, the front direction), its light-emitting shape has a specific shape (for example, a vertical half-circle shape in which the right half is hidden as shown in FIG. 6A). Becomes
Further, the light emitting shape is configured to change as the viewing direction changes from the specific direction (for example, the front direction). In addition, the work vehicle A is directed in a specific direction (for example, in the front direction).
When the cover rotation motor 23 is operated so that the light emission shape becomes a specific shape (for example, a vertical semicircle shape) when viewed from above, a reference adjustment state by the light emission shape adjustment means 103 described later (that is, , Reference rotation position).

In the automatic tracking device B, the image sensor S is fixedly installed on a table 9, and a turning motor 11 for turning the table 9 around a vertical axis θ and a horizontal axis of the table 9 are provided. A swinging motor 12 that swings around φ is provided. Therefore, the turning motor 11 and the swinging motor 12 constitute imaging angle adjusting means 11 and 12 for adjusting the imaging angle of the image sensor S. Further, the turning motor 11 and the swinging motor 12 respectively have encoders 11a and 12a built therein (see FIG. 4). Based on the information of the encoders 11a and 12a, the angle of the optical axis of the image sensor S, specifically, Specifically,
As shown in FIG. 2, the angle θs with respect to the straight line connecting the two image sensors S is detected.

The image sensor S comprises an electric zoom lens 14 constituting an optical system, and a monochrome CCD sensor 15 having an electronic shutter as an image pickup section. Figure 3
As shown in FIG. 3, the electric zoom lens 14 includes a focus drive motor 33, a first potentiometer 34 which is a focus position detection sensor, a zoom drive motor 35,
Second potentiometer 36 which is a zoom position detection sensor
And are provided. Then, the light from the light emitting body 20 that has passed through the electric zoom lens 14 and the optical filter 24 provided on the rear side of the electric zoom lens 14 forms an image on the CCD element 27 which is an image pickup element provided in the CCD sensor 15. Has been done. The optical filter 24 is used for the light bulb 2.
The transmittance is increased with respect to the emission wavelength of 0a.

Next, the control configuration of each of the automatic tracking devices B will be described with reference to FIG. 4, and the imaging angle controller 49, the image sensor controller 50, and
A main controller C that controls these controllers 49 and 50 is provided. Imaging angle controller 4
9, the angle information of the optical axis of the image sensor S is input from the encoders 11a and 12a, and
Drive signals for the turning motor 11 and the swinging motor 12 are output. The image sensor controller 50 includes imaging information of the CCD sensor 15, the first potentiometer 34 and the second potentiometer 36.
Detection information is input and the CCD sensor 1
5, drive signals for the focus drive motor 33 and the zoom drive motor 35 are output.

Using the image sensor controller 50 of the two automatic tracking devices B, based on the image pickup information of each of the two image sensors S, each of the two image sensors S of the light emitter 20 is detected. Image processing means T for detecting the position within the image pickup screen is configured. That is, FIG.
As shown in, with the center point O of the image pickup screen 29 of the image sensor S as the origin, the screen horizontal direction is set to the x'axis (right direction is plus) and the screen vertical direction is set to y'axis (upward is plus). A region corresponding to the light emission shape of the light emitting body 20 is extracted, and the center of the spherical light bulb 20a discriminated from the extracted region is obtained as the representative point G of the region. In the drawing, the right half of the spherical light bulb 20a is hidden by the cover 20b. Then, the representative point G and the screen center point O
Deviations X and Y are detected, and the deviations X and Y are detected by the light emitter 2.
Position information within the image pickup screen of 0 is set. The deviation X,
The angle α at which the light emitting body 20 is located with respect to the optical axis of the image sensor S, that is, the imaging direction (direction indicated by the screen center point O) is obtained from Y (see FIG. 2). In this example, the deviation Y in the y ′ axis direction is obtained. Is almost 0, and there is only the deviation X in the x′-axis direction, and the angle α represents the angle in the horizontal plane.

From the above, the encoders 11a and 12a are
Also, the image processing means T constitutes imaging angle detection means 11a, 12a, T for detecting the imaging angle of the image sensor S (that is, the imaging direction with respect to the light emitter 20). Hereinafter, a specific configuration will be described in which the imaging angle detection means 11a, 12a, T detect the imaging angles of the two image sensors S, that is, the angles of the light emitter 20 with respect to the respective image sensors S. As shown in FIG. 2, the angle α of the light emitting body 20 with respect to the optical axis of each image sensor S obtained by the image processing means T and the optical axis of each image sensor S detected by the encoders 11a and 12a. The angle of the light emitter 20 is obtained from the angle θs. That is, the angle of the light emitter 20 with respect to the left image sensor S in FIG. 2 is θa = θs−α, and the angle of the light emitter 20 with respect to the right image sensor S is θb = θs +.
Calculated as α. The angle θa of the light emitting body 20 is
The information of θb is transmitted from the transmitter / receiver 13 as the image pickup means side communication means provided in each of the two automatic tracking devices B to the transmitter / receiver 16 provided as the light emitter side communication means on the work vehicle A side.

Further, the main controller C keeps the size of the light emitting body 20 in the image pickup screen of the image sensor S, that is, the diameter ΔG (see FIG. 6) of the circular area corresponding to the light bulb 20a at a set value. In addition, the image pickup magnification of the image sensor S is changed. That is, light bulb 2
By moving the lens position of the electric zoom 14 so that the imaging magnification is increased when the diameter ΔG in the screen of 0a is smaller than the set value, and the imaging magnification is decreased when the diameter ΔG is larger than the set value, the light emitting body in the imaging screen is reduced. The size of 20 is maintained at an appropriate size. When the moving direction of the light emitting body 20 within the image pickup screen is the perspective direction,
In other words, the position of the light bulb 20a in the imaging screen (representative point G)
If only the diameter ΔG changes without changing so much,
The light emitting body 20 moves laterally within the imaging screen, and the diameter Δ
Compared to the case where G changes, the light emitting body 20 in the imaging screen
In this case, the lens position of the electric zoom 14 is controlled at a higher speed to minimize the delay of the tracking control.

Further, by using the main controller C, the light emitter 20 is located at a predetermined position in the image pickup screen of the image sensor S, specifically, at the center point O of the image pickup screen 29.
The tracking control means 100 for operating the turning motor 11 and the swinging motor 12 is configured so as to capture (the representative point G of the light bulb 20a).

Explaining the tracking control means 100, since it takes a predetermined processing time to detect the angle α by the image processing means T, the angle information θa and θb of the light emitter 20 is obtained from one of the image sensors. As shown in FIG. 7 for S, it is given by discrete detection points at intervals. In the figure, the light emitter 20 has the current angle detection time t0.
The angle θ about the vertical axis θ at the angle detection time point t2 two times before
2 is positioned at an angle θ1 around the vertical axis θ at the angle detection time t1 one before the current angle detection time t0, and at an angle θ0 around the vertical axis θ at the current angle detection time t0. It is assumed that the user is moving on the locus R so that It should be noted that the angle about the vertical axis θ is positive in the clockwise direction (clockwise direction) when viewed from above, and the angular position around the horizontal axis φ of the light emitter 20 does not change. From the above, the rate of change θv of the angular position around the vertical axis θ of the light emitting body 20 from the angle detection time t1 immediately before the current angle detection time t0 to the current angle detection time t0 is given by the following equation.

[0025]

## EQU1 ## θv = (θ0-θ1) / (t0-t1)

Therefore, in order to capture the light emitting body 20 at the center point O of the screen at the angle detection time point next to the current angle detection time point t0, the correction amount for the angle α detected by the image processing means T, and , The turning amount Δθ around the vertical axis θ in consideration of the rate of change θv of the angular position around the vertical axis θ.
Is determined by the following equation, and the turning motor 1 is controlled by the turning amount Δθ.
1 is activated. Note that a1 and a2 are predetermined gain coefficients (a1> 0, a2> 0).

[0027]

[Formula 2] Δθ = a1 · X + a2 · θv

Further, the main controller C of the right side automatic tracking device B of the two automatic tracking devices B has the light emitting shape of the light emitting body 20 on the image pickup screen of the image sensor S and the specific shape (for example, the vertical posture). The information on the difference with the semi-circular shape) is transmitted from the transmitter / receiver 13 to the transmitter / receiver 16 on the light emitter 20 side, that is, the work vehicle A side. As shown in FIG. 6, the information on the difference is the aspect ratio h of the light emitting shape when the light emitting shape is changed from the specific shape.
It is calculated as the value of / v. And this aspect ratio h / v
The value of is 0.5 for the semicircular shape in the vertical posture, and the greater the deviation from the value of 0.5 toward the large side or the smaller side, the greater the difference from the semicircular shape in the vertical posture. , Crescent shape, etc.

Next, referring to FIG. 5, the control configuration of the work vehicle A side will be described. A work vehicle controller H using a microcomputer is provided, and the work vehicle controller H is provided with a transceiver 13 on the ground side. The angle information θa and θb of the light emitting body 20 transmitted from the device, and the information on the difference between the light emitting shape of the light emitting body 20 on the imaging screen of the image sensor S and the specific shape (vertical posture semicircular shape) are received. The reception information of the transceiver 16 is input, and a drive signal is output from the work vehicle controller H to the traveling motor 17 for shifting the transmission 18 and the steering motor 21 for steering the steering device 22. Has been done. Also, the work vehicle controller H
While the drive signal for the cover rotation motor 23 is output from the encoder 23a, the detection information from the encoder 23a is input.

Then, using the work vehicle controller H, the light emitting shape of the light emitting body 20 on the image pickup screen of the image sensor S is set to the specific shape based on the information received by the transceiver 16. The light emitting shape adjusting means 103 for changing and adjusting the specific direction is configured. Specifically, as described above, the light emitting shape adjusting means 103 has the cover 20b in a state in which the specific shape is a vertical semicircular shape. Is constituted by the cover rotating motor 23 as a rotating means for rotating the shaft around the vertical axis. And
The encoder 23a has the light emitting shape adjusting means 103.
Light emitting shape adjustment amount detecting means for detecting the adjustment amount from the reference adjustment state, that is, the adjustment amount from the adjustment state in which the light emitting shape of the work vehicle A becomes the specific shape when viewed from a specific direction (for example, the front direction). Functioning as its encoder 23a
The adjustment amount information detected in step 1 is transmitted from the transceiver 16 to the transceiver 13 of the automatic tracking device B on the right side.
In the example of the work vehicle A shown in FIG. 2, the cover 20b is rotated by an angle φ from a specific direction (for example, the front direction),
This angle φ corresponds to the adjustment amount from the reference adjustment state.

Then, using the main controller C of the automatic tracking device B on the right side, the imaging angle detecting means 1
Azimuth detecting means 102 for detecting the azimuth of the work vehicle A based on the imaging angle information of 1a, 12a, and T and the adjustment amount information received by the transceiver 13 is configured. The direction detection will be described in detail. As shown in FIG. 2, the vertical direction of the paper surface is set as the reference direction along the reference direction J ′, and the angle θb of the light emitter 20 is adjusted by the adjustment amount from the reference adjustment state. The angle obtained by adding the angle φ corresponding to is detected as the direction J of the work vehicle A. In the example of the work vehicle A shown by the solid line in FIG. 2, the direction J of the work vehicle A is the same direction as the reference direction J ′, and in the example of the work vehicle A shown by the dotted line, the direction J of the work vehicle A is the above reference direction. The direction is slightly tilted from the direction J '. Then, the detected direction information of the work vehicle A is transmitted from the transceiver 13 to the transceiver 16 on the side of the work vehicle A.

Further, the work vehicle controller H includes the
The position of the light emitter 20 is measured based on the distance information (Ls in FIG. 2) of the individual image sensors S and the angle information θa, θb of the light emitter 20. Specifically, as shown in FIG. 2, the xy coordinate axes are set with the turning center (vertical axis θ) of the left image sensor S as the origin, and the current position (x, y) of the light emitter 20 is expressed by the following equation. Calculated by the formula.

[0033]

(3) x · tan (θa) = (Ls−x) · tan
(Θb) y · tan (π / 2−θa) + y · tan (π / 2−θ
b) = Ls, and from the above equations, x = (tan (θa) · Ls) / (tan (θa) + t
an (θb)) y = Ls / (cot (θa) + cot (θb))

Then, the work vehicle controller H shifts the position of the work vehicle A with respect to the target route obtained from the current position (x, y) of the work vehicle A, and the direction J of the work vehicle A transmitted from the ground side. Based on the information of the traveling motor 17 so that the work vehicle A travels along the target route.
And the steering motor 21 for steering.

Next, the control operation of each controller on the automatic tracking device B side and the work vehicle A side will be described based on the flow chart shown in FIG. First, on both automatic tracking devices B side, the angles θa and θb of the light emitter 20 are obtained based on the calculation of the angle α of the light emitter 20 in each image sensor S and the detection of the optical axis angle θs of each image sensor S. Then, the information on the angles θa and θb is transmitted to the work vehicle A side. After that, on the left side automatic tracking device B side, a tracking operation is performed in which the image sensor S is turned by the turning amount Δθ. on the other hand,
On the side of the work vehicle A, the received angle θa of the light-emitting body 20,
The current position (x, y) is calculated from the θb information.

Next, on the right side automatic tracking device B side, the aspect ratio h / v is calculated for the light emitting shape of the light emitting body 20 in the image sensor S, and the aspect ratio h / v information is sent to the work vehicle A side. Sent. On the side of work vehicle A, the aspect ratio h received above is received.
Based on the / v information, an adjustment operation is performed to rotate the cover 20b so that the emission shape becomes a specific shape (vertical semicircle shape), and the adjustment amount information is transmitted to the right side automatic tracking device B side. To do. On the other hand, on the right-hand side automatic tracking device B side, if the aspect ratio h / v is 0.5, the direction J of the work vehicle A is calculated from the angle θb of the light emitter 20 and the received adjustment amount information, and the direction is calculated. Information is transmitted to the work vehicle A side.
If the aspect ratio h / v is not 0.5, the azimuth is not calculated. After this, the tracking operation of turning the image sensor S by the turning amount Δθ is performed on the right side automatic tracking device B side. Then, on the side of the work vehicle A, gear shifting and steering operation are performed based on the received azimuth information and the calculated current position (x, y).

[Other Embodiments] Next, other embodiments will be listed. In the above embodiment, the light emitting portion of the light emitting body 20 is constituted by the circular light bulb 20a, but an LED light emitter or the like may be used instead of the light bulb. Further, in the above embodiment, the light emitting body (for example, the circular light bulb 20a is used as the light emitting portion).
The case where the light emitting shape when viewed from a specific direction such as the front direction of the moving vehicle is set to a specific shape which is a semicircular shape in a vertical posture by the hemispherical cover 20b is illustrated, but the specific shape is also in a vertical posture. In addition to the semicircular shape, various modifications such as crescent shape can be made. For example, the light emitting portion is formed in a cylindrical shape, and a movable cover that covers the outer peripheral surface of the cylindrical light emitting portion is cut in half in the vertical direction to cover the outer peripheral surface of the cylindrical light emitting portion. It is possible to construct a specific shape, for example, a rectangle whose height is the same as the height of the cylinder and whose width is half the diameter of the cross section of the cylinder.

In the above-described embodiment, the light-emitting shape of the light-emitting body 20 (for example, the light bulb 20a having a circular light-emitting portion) on the image pickup screen of the image pickup means (image sensor S) has a specific shape (for example, a semicircular shape in a vertical posture). The azimuth detecting means 102 for adjusting the light emitting shape of the light emitting body and detecting the azimuth of the moving body A from the adjustment amount information from the reference adjustment state and the imaging angle (actually, the angle of the light emitting body 20) information has been described above. In addition to this, based on the difference between the light emitting shape of the light emitting body 20 on the imaging screen and the reference light emitting shape obtained as the shape when the moving body A is oriented in the reference direction according to the imaging angle. The azimuth detecting means 101 for detecting the azimuth of the moving body A can be configured. The azimuth detecting means 101 will be described below with reference to FIGS. 9 and 10.

As shown in FIG. 9, the luminous body 20 of this example is shown.
Is constituted by, for example, a hemispherical light shielding film 20c that covers the right half in the lateral direction on the spherical outer peripheral surface of the spherical light bulb 20a, and when the moving body A is viewed from the front direction. In addition, the light emitting shape of the light bulb 20a is a vertical semicircular shape, and the light emitting shape changes as the viewing direction changes from the front direction. Further, the vertical direction of the paper surface is set as the reference direction along the reference azimuth J '.
As shown by the solid line in the figure, the moving body A is oriented in the reference direction in the states A1 to A5. For example, A2 is shown in FIG. 10A, A3 is shown in FIG.
For A4, the shapes shown in FIG. 10C are the reference light emission shapes. However, the light emitting shape in a state where the moving body A is not oriented in the reference direction as indicated by the dotted line for A2 is as follows:
As shown by the dotted line in FIG. 10A, it deviates from the reference light emission shape. Then, the direction and the angle of the change of the moving body A with respect to the reference direction can be known from the direction of the deviation of the shape and the amount of the deviation, and the azimuth J of the moving body A can be detected with the reference azimuth J'as a reference.

Also in the above-mentioned other embodiment, as in the case of the azimuth detecting means 102, an LED light emitter or the like may be used for the light emitting body 20 other than the light bulb, or the light emitting body 20 is viewed from a specific direction. The shape of the light emitted when the light is emitted is changed to a crescent shape other than the vertical semicircular shape, or a shielding film that covers half of the horizontal direction of the outer peripheral surface of the cylindrical light emitting part is formed to identify it. The shape may be a rectangle whose height is the same as the height of the cylinder and whose width is half the diameter of the cross section of the cylinder.

In the above embodiment, as the image pickup means S,
Although the case of the image sensor using the monochrome CCD sensor has been illustrated, for example, a PSD sensor or the like may be used in addition to the CCD sensor, and a color sensor may be used instead of the monochrome sensor. .

In the above embodiment, the angle adjusting means of the image pickup means S is constituted by the electric motors 11 and 12, but other actuators can be used in addition to the motors. Further, in the above embodiment, the image pickup angle detection means of the image pickup means S is constituted by the encoders 11a and 12a built in the motors 11 and 12 and the image processing means T, but the accuracy of automatic tracking is high and the center of the image pickup screen is high. When the light emitting body 20 can be caught at the point O, the imaging angle can be detected only by the information of the encoders 11a and 12a. Instead of the encoders 11a and 12a, it is possible to use an angle detecting means such as a potentiometer which is separate from the motors 11 and 12, for example.

In the above embodiment, the tracking control means 100
Exemplifies a case in which the light emitting body 20 is controlled so as to be captured at the center point O of the image pickup screen.
It is also possible to capture within a predetermined range including, for example, the vicinity area K in FIG. Further, in the case where the tracking control means 100 uses both the information on the position (deviation X, Y from the center point O) of the light emitter 20 in the imaging screen and the moving speed of the light emitter 20 as information for tracking. Although shown, the control can be simplified by being based only on the position information of the light emitting body 20 within the imaging screen.

In the above embodiment, two image pickup means S are provided at a predetermined interval Ls, the angle of the light emitter 20 viewed from each image pickup means S is obtained, and the position of the light emitter 20 is detected by the principle of triangulation. Other than this, for example, in addition to this, for example, one image pickup means S is provided, a reflector is provided on the light emitting body 20 side, and the image pickup direction of the image pickup means S is directed to the light emitting body 20 with respect to the reflector. The distance to the light emitter 20 is detected with the detection direction of the distance detector such as a laser length measuring device set, and the light emitter 2 is detected from the distance information and the image pickup direction of the image pickup means.
It is also possible to detect the position of 0.

In the above-described embodiment, the case where the moving body is the automatic traveling type work vehicle A has been described as an example. However, other than this, a work vehicle on which a driver rides and is manually driven may be used. . In this case, the calculated current position (x,
y) and azimuth information are displayed on a display screen or the like, and manual operation is performed based on this display information.

It should be noted that reference numerals are given in the claims for convenience of comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of a moving body and an automatic tracking device.

FIG. 2 is a plan view illustrating position detection and direction detection of a moving body.

FIG. 3 is a partial cross-sectional side view showing a configuration of an image pickup unit.

FIG. 4 is a block diagram showing a control configuration of an automatic tracking device.

FIG. 5 is a block diagram showing a control configuration of a work vehicle.

FIG. 6 is an explanatory view for detecting the position and the light emission shape of a light emitter in the image pickup screen.

FIG. 7 is an explanatory diagram of tracking control.

FIG. 8 is a time chart explaining a control operation.

FIG. 9 is a plan view for explaining direction detection of a moving body according to another embodiment.

FIG. 10 is an explanatory diagram of a light emitting shape in detecting the direction of a moving body according to another embodiment.

[Explanation of symbols]

 A moving body 20 luminous body S imaging means 100 tracking control means 11, 12 imaging angle adjusting means 11a, 12a, T imaging angle detecting means 101 azimuth detecting means 13 imaging means side communication means 16 luminous body side communication means 103 luminous shape adjusting means 23a Light emitting shape adjustment amount detecting means 102 Direction detecting means 20a Light emitting part 20b Cover 23 Rotating means

Claims (3)

[Claims] 1. An azimuth detecting device for a moving body (A), wherein a light emitting body (20) whose emission shape changes in accordance with a change in a viewing direction is installed on the moving body (A). The image pickup means (S) for picking up the image of the light emitting body (20) on the ground side, and the image pickup means (S) so as to catch the light emitting body (20) at a predetermined position in the image pickup screen of the image pickup means (S). S) tracking control means (100) for activating the imaging angle adjusting means (11, 12) and imaging angle detection means (11a, 12a, 11a, 12a, for detecting the imaging angle of the imaging means (S).
T), the light emitting shape of the light emitting body (20) on the image pickup screen of the image pickup means (S), and the image pickup angle detection means (1).
1a, 12a, T), depending on the imaging angle detected
Based on the difference from the reference light emission shape obtained as the shape when the moving body (A) is oriented in the reference direction,
Direction detecting means (10) for detecting the direction of the moving body (A)
1) An azimuth detecting device for a moving body, which is provided with. 2. An azimuth detecting device for a moving body (A), wherein the moving body (A) has a light-emitting shape that is a specific shape when viewed from a specific direction, and the viewing direction is An illuminator (20) whose emission shape changes as it changes from the specific direction is installed, and an image pickup means (S) for picking up the image of the illuminant (20) on the ground side, and an image pickup means (S). Tracking control means (100) for operating the imaging angle adjusting means (11, 12) of the imaging means (S) so as to capture the light emitting body (20) at a predetermined position in the imaging screen of (1), and the imaging means (S). ) Imaging angle detection means (11a, 12a,
T) and information about the difference between the light emission shape of the light emitting body (20) and the specific shape on the image pickup screen of the image pickup means (S) toward the light emitting body (20) side. (13) is provided, and the moving body (A) is provided with the image pickup means side communication means (13).
The light emitter side communication means (16) for receiving the difference information transmitted from the light emitter side, and the light emitter (20) on the image pickup screen of the image pickup means (S) based on the received information of the light emitter side communication means (16). The light emission shape adjusting means (1) for changing and adjusting the specific direction so that the light emission shape of the
03) and a light emission shape adjustment amount detection means (23a) for detecting an adjustment amount of the light emission shape adjustment means (103) from a reference adjustment state, and the light emitter side communication means (16) is provided with the light emission shape. The adjustment amount information detected by the adjustment amount detection means (23a) is configured to be transmitted to the imaging means side communication means (13), and the imaging angle detection means (11a, 12a,
T) imaging angle information and the imaging means side communication means (1
An azimuth detecting device for a moving body, which is provided with azimuth detecting means (102) for detecting the azimuth of the moving body (A) based on the adjustment amount information received in 3). 3. The light-emitting body (20) comprises a spherical light-emitting portion (20a) and a hemispherical cover (20b) which covers a lateral half of the spherical outer peripheral surface of the light-emitting portion (20a). The light emitting shape adjusting means (103) is composed of a rotating means (23) for rotating the cover (20b) around the vertical axis in a state where the specific shape is a vertical semicircular shape. The azimuth detecting device for a moving body according to claim 2.