JPH0798225A - Inclination angle measuring instrument - Google Patents
Inclination angle measuring instrumentInfo
- Publication number
- JPH0798225A JPH0798225A JP26832293A JP26832293A JPH0798225A JP H0798225 A JPH0798225 A JP H0798225A JP 26832293 A JP26832293 A JP 26832293A JP 26832293 A JP26832293 A JP 26832293A JP H0798225 A JPH0798225 A JP H0798225A
- Authority
- JP
- Japan
- Prior art keywords
- light
- light emitting
- measurement target
- target surface
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005259 measurement Methods 0.000 claims abstract description 18
- 238000006073 displacement reaction Methods 0.000 claims abstract description 4
- 238000003384 imaging method Methods 0.000 claims 1
- 230000004907 flux Effects 0.000 abstract description 10
- 238000010586 diagram Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
- B60Q1/06—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle
- B60Q1/08—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically
- B60Q1/12—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically due to steering position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J6/00—Arrangement of optical signalling or lighting devices on cycles; Mounting or supporting thereof; Circuits therefor
- B62J6/02—Headlights
- B62J6/022—Headlights specially adapted for motorcycles or the like
- B62J6/023—Headlights specially adapted for motorcycles or the like responsive to the lean angle of the cycle, e.g. changing intensity or switching sub-lights when cornering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/10—Indexing codes relating to particular vehicle conditions
- B60Q2300/13—Attitude of the vehicle body
- B60Q2300/136—Roll
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/30—Indexing codes relating to the vehicle environment
- B60Q2300/32—Road surface or travel path
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2400/00—Special features or arrangements of exterior signal lamps for vehicles
- B60Q2400/50—Projected symbol or information, e.g. onto the road or car body
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、被計測体の傾斜角度非
接触計測技術に係り、例えば自動二輪車のヘッドランプ
等の照射光束を該車両の傾斜に拘らず一定の配光パター
ンに保つために、該車両の傾斜角度を計測し、この出力
によってヘッドランプの取付角度制御駆動装置等を自動
的に制御するための姿勢信号を出力する傾斜角計測装置
に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a non-contact angle measuring technique for measuring an inclination angle of an object to be measured, for maintaining a constant luminous intensity distribution pattern such as a headlamp of a motorcycle regardless of the inclination of the vehicle. Further, the present invention relates to a tilt angle measuring device which measures a tilt angle of the vehicle and outputs an attitude signal for automatically controlling a headlamp mounting angle control drive device or the like by this output.
【０００２】[0002]
【従来の技術】例えば自動車のヘッドランプにおいて、
照射光束の配光パターンを一定に保つためには、該車両
の水平姿勢を一定に保持するか、又は灯具全体或は灯具
の配光形成構造部の水平姿勢を一定に保つことが必要で
ある。特に自動二輪車の場合には、走行に際して左又は
右に車体が傾斜（バンク角）することによってバランス
をとる構造になっているため、ヘッドランプを車体に固
定していると、図１０にその配光照度分布を示すよう
に、バンク角が大きくなるほど幅方向の照射角度が小さ
くなり、左右前方の視界が確保できなくなるという問題
を有している。2. Description of the Related Art For example, in a headlight of an automobile,
In order to keep the light distribution pattern of the irradiation light flux constant, it is necessary to keep the horizontal posture of the vehicle constant, or to keep the horizontal posture of the entire lamp or the light distribution forming structure of the lamp constant. . Particularly, in the case of a motorcycle, the structure is such that the vehicle body leans (bank angle) to the left or right during traveling, so that the headlamps are fixed to the vehicle body as shown in FIG. As shown in the light illuminance distribution, the irradiation angle in the width direction becomes smaller as the bank angle becomes larger, so that there is a problem in that it is not possible to secure the field of view in the front left and right directions.
【０００３】従って、自動二輪車の場合においてヘッド
ランプの照射光束の配光パターンを一定に保つために、
灯具全体又は灯具の配光形成構造部の水平姿勢を一定に
保つ構造にしなければならない。従って、車両の走行中
にヘッドランプの取付角度制御駆動装置を自動制御する
ための姿勢信号が常時入力されなければならず、このた
め従来よりこの姿勢信号を、ジャイロや、人工衛星から
の信号を使用した角度検出器からの角度信号をもって入
力する傾斜角計測装置が使用されている。Therefore, in order to keep the light distribution pattern of the luminous flux of the headlamp constant in the case of a motorcycle,
The structure shall be such that the horizontal orientation of the entire lamp or the light distribution forming structure of the lamp is kept constant. Therefore, the attitude signal for automatically controlling the headlamp mounting angle control drive device must be constantly input while the vehicle is running. Therefore, this attitude signal has been conventionally used as a signal from a gyro or an artificial satellite. A tilt angle measuring device is used which inputs an angle signal from the used angle detector.
【０００４】[0004]
【発明が解決しようとする課題】しかし、この種の傾斜
角計測装置は構造が複雑になるため、計測誤差が大きく
なるだけでなく、製造コストが高騰する問題を有してい
た。However, the tilt angle measuring device of this kind has a complicated structure, and thus not only the measurement error becomes large, but also the manufacturing cost rises.
【０００５】本発明は、上記問題に鑑みて創案されたも
のであり、簡単な構造で且つ正確に対象物体との相対角
度を非接触で検出することができる傾斜角計測装置を提
供することを目的とするものである。The present invention was devised in view of the above problems, and it is an object of the present invention to provide a tilt angle measuring device having a simple structure and capable of accurately detecting a relative angle with a target object in a non-contact manner. It is intended.
【０００６】[0006]
【課題を解決するための手段】本発明に係る傾斜角計測
装置は、計測対象面に二つの光点を照射形成する二つの
有角度光束を発射する発光手段と、上記計測対象面の二
つの光点を撮影する撮像機と、上記撮像機からの映像信
号から二つの光点を検出し、該光点間の距離の計測と予
め入力した初期値との演算により計測対象面に対する発
光手段の位置を検出する中央制御装置とからなり、非接
触により計測対象面に対する発光手段の変位角度を検出
することを要旨とするものである。A tilt angle measuring apparatus according to the present invention comprises a light emitting means for emitting two angled luminous fluxes for irradiating and forming two light spots on a surface to be measured, and two light emitting means on the surface to be measured. An image pickup device for photographing a light spot and two light spots from a video signal from the image pickup device are detected, and the distance between the light spots is measured and the light emitting means for the measurement target surface is calculated by calculation with an initial value input in advance. The gist of the invention is to detect the displacement angle of the light emitting means with respect to the surface to be measured without contact with the central control device for detecting the position.
【０００７】[0007]
【作用】上記発光手段は、一定の角度αをもって二つの
光束を計測対象面に照射し、これによって二つの光点を
形成する。このとき発光手段と撮像機が計測対象面から
一定の距離にあれば、この光点間の距離を撮像機によっ
て読み取ることにより発光手段の計測対象面に対する傾
きを算出することが可能である。そして、計測対象面に
形成する二点が光点であるため、計測対象面が移動して
いても計測を可能とするものである。The light emitting means irradiates two light beams on the surface to be measured at a constant angle α, thereby forming two light spots. At this time, if the light emitting means and the image pickup device are at a constant distance from the measurement target surface, the inclination of the light emitting means with respect to the measurement target surface can be calculated by reading the distance between the light spots by the image pickup device. Since the two points formed on the measurement target surface are the light spots, the measurement can be performed even when the measurement target surface is moving.
【０００８】[0008]
【実施例】以下、本発明に係る傾斜角計測装置を図面に
従って説明する。図１は傾斜角計測装置の構成を示すブ
ロック線図である。符号１は中央制御装置２からの制御
信号によって発光制御回路３を介して点灯し、一定の方
向と角度αをもって二つの光束Ｌ１，Ｌ２を照射する発
光部であり、該発光部１からの照射光束Ｌ１，Ｌ２の光
点Ａ，Ｂを隣設したＣＣＤ撮像機４によって撮像し、Ｃ
ＣＤ画像インターフェース５を介して上記中央制御装置
２に画像信号を入力する。DESCRIPTION OF THE PREFERRED EMBODIMENTS A tilt angle measuring device according to the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing the configuration of a tilt angle measuring device. Reference numeral 1 denotes a light emitting section which is turned on by the control signal from the central control unit 2 via the light emission control circuit 3 and emits two light beams L1 and L2 at a constant direction and an angle α. The light spots A and B of the light fluxes L1 and L2 are picked up by the adjacent CCD image pickup device 4, and C
An image signal is input to the central control unit 2 via the CD image interface 5.
【０００９】符号６は、中央制御装置２によって画像処
理した検出値を処理選択入力部７からの選択信号によっ
て演算処理を行い、例えば傾斜角θを算出する演算回路
であり、該出力値θ（即ち、傾斜角）を例えば自動二輪
車のバンク角として、ヘッドランプの取付部に介装した
取付角度制御機構を駆動し、ヘッドランプを路面に対し
て所定角度に維持するよう制御駆動するものである。Reference numeral 6 denotes an arithmetic circuit for performing arithmetic processing on the detection value image-processed by the central control unit 2 by a selection signal from the processing selection input unit 7 to calculate, for example, the inclination angle θ, and the output value θ ( That is, the inclination angle) is set as, for example, the bank angle of the motorcycle, and the mounting angle control mechanism interposed in the mounting portion of the headlamp is driven to control and drive the headlamp so as to maintain the headlamp at a predetermined angle with respect to the road surface. .
【００１０】上記構成の傾斜角計測装置は、発光部１の
２個の光源から特定の角度αをもって光束Ｌ１，Ｌ２を
照射したときの光点Ａ，Ｂ間の距離ｂの変化により、照
射面と光源固定部位置の傾斜角θを計測する方法によ
り、自動二輪車のバンク角等を検出するものであり、以
下にその計測のための演算処理方法を説明する。The tilt angle measuring device having the above-mentioned construction changes the distance b between the light spots A and B when the light beams L1 and L2 are emitted from the two light sources of the light emitting unit 1 at a specific angle α, and the irradiation surface is changed. The bank angle and the like of the motorcycle are detected by the method of measuring the inclination angle θ of the position of the light source fixing part, and the calculation processing method for the measurement will be described below.
【００１１】図２のように、ＸＹ平面にＺ軸方向に固定
した発光部１の二個の光源から一定の角度αをもって照
射した光点Ａ，Ｂがある場合について考察する。この光
点Ａ，Ｂ間の距離ｂは、発光部１の変位がなければ一定
であり、もしも発光部１とＸＹ平面間の距離ｂが既知で
あれば、 ｂ＝Ｈ tanα …… の関係式で求めることができる。また、距離ｂが解れば
高さＨを求めることが可能である。As shown in FIG. 2, let us consider a case where there are light spots A and B irradiated from two light sources of the light emitting section 1 fixed in the Z-axis direction on the XY plane at a constant angle α. The distance b between the light spots A and B is constant unless the light emitting unit 1 is displaced, and if the distance b between the light emitting unit 1 and the XY plane is known, then the relational expression of b = H tan α Can be found at. Further, if the distance b is known, the height H can be obtained.
【００１２】次に図３に示すように、発光部１がＹ軸を
回転軸にしてθだけ傾斜した場合、ＸＹ平面上の光点
Ａ，Ｂ間の距離も変化する。このときの距離をｃとする
と、その傾斜角θは、距離ｃを計測することにより求め
ることが可能である。この距離ｃとαの関係は、次のよ
うになる。 θ＝cos-1 ｛（Ｈ ／ｃ）sin α｝−α …… もし、Ｈが未知であれば、 θ＝cos-1 ｛（ｂ／ｃ） cos α｝−α …… となる。即ち、本発明は非接触で、静止体又は運動体に
関係なく、発光部１の固定部と投射光点Ａ，Ｂの面との
傾斜角θを求めることが可能な方法を得ることができ
る。Next, as shown in FIG. 3, when the light emitting section 1 is tilted by θ with the Y axis as the rotation axis, the distance between the light points A and B on the XY plane also changes. When the distance at this time is c, the inclination angle θ can be obtained by measuring the distance c. The relationship between the distance c and α is as follows. θ = cos -1 {(H / c) sin α} -α ... If H is unknown, then θ = cos -1 {(b / c) cos α} -α. That is, the present invention can obtain a method which is non-contact and can obtain the tilt angle θ between the fixed portion of the light emitting unit 1 and the planes of the projected light points A and B regardless of the stationary body or the moving body. .
【００１３】また、上記構成の傾斜角計測装置は、静止
体又は運動体に関係なく、非接触で発光部１の固定部と
投射光点Ａ，Ｂの面との傾斜角θを求めることができる
だけでなく、次の計測も可能である。 （１） 図４は、発光部１と投射面との距離を求める場
合について説明するものである。この場合は光点Ａ，Ｂ
間の距離ｂ’を計測することにより、ＸＹ平面と発光部
１との距離Ｈ’を求めることができる。Further, the tilt angle measuring device having the above-mentioned structure can obtain the tilt angle θ between the fixed part of the light emitting part 1 and the planes of the projected light points A and B in a non-contact manner regardless of the stationary body or the moving body. Not only that, but also the next measurement is possible. (1) FIG. 4 illustrates a case where the distance between the light emitting unit 1 and the projection surface is obtained. In this case, light spots A and B
By measuring the distance b ′ between them, the distance H ′ between the XY plane and the light emitting unit 1 can be obtained.
【００１４】（２） また図５は、発光部１がＺ軸周り
に回転（回転角β）した場合について説明するものであ
る。この場合はＣＣＤ撮像機４からの映像を処理してＸ
Ｙ平面上の座標（ｄ，ｅ）を計測することにより回転角
βを求めることができる。 （３） 更に図６は、Ｚ軸周りの回転角ψと、Ｙ軸周り
の傾斜角θを同時に求める場合を示したものである。(2) FIG. 5 illustrates a case where the light emitting section 1 is rotated around the Z axis (rotation angle β). In this case, the image from the CCD imager 4 is processed and X
The rotation angle β can be obtained by measuring the coordinates (d, e) on the Y plane. (3) Further, FIG. 6 shows a case where the rotation angle ψ about the Z axis and the tilt angle θ about the Y axis are simultaneously obtained.
【００１５】次に図７乃至図９は、前述した式と式
を応用した自動二輪車のヘッドランプの姿勢制御装置の
一例を示すものである。図７は該ヘッドランプの姿勢制
御装置の構成を示すブロック線図であり、二輪車のバン
ク角を求めて、その角度に応じて、ヘッドランプの配光
をコントロールするシステムである。（本発明装置と同
一機能を有する構成は前記図１と同一符号である。）Next, FIG. 7 to FIG. 9 show an example of the attitude control device for the headlamp of the motorcycle, which applies the above-mentioned formulas and formulas. FIG. 7 is a block diagram showing the configuration of the attitude control device for the headlamp, which is a system for determining the bank angle of a two-wheeled vehicle and controlling the light distribution of the headlamp according to the angle. (Structures having the same functions as the device of the present invention are the same as those in FIG. 1)
【００１６】中央制御装置２からの制御信号によって発
光制御回路３を介して点灯し、一定の方向と角度αをも
って二つの光束Ｌ１，Ｌ２を照射する発光部１と、該発
光部１からの照射光束Ｌ１，Ｌ２の光点Ａ，Ｂを撮像
し、ＣＣＤ画像インターフェース５を介して上記中央制
御装置２に画像信号を入力するＣＣＤ撮像機４とによっ
てバンクセンサユニット１０を構成している。A light emitting section 1 which emits light through a light emission control circuit 3 in response to a control signal from a central control unit 2 and emits two light beams L1 and L2 at a constant direction and an angle α, and an emission from the light emitting section 1. A bank sensor unit 10 is constituted by a CCD imager 4 which images the light spots A and B of the light fluxes L1 and L2 and inputs an image signal to the central control unit 2 through a CCD image interface 5.
【００１７】ヘッドランプ１１の姿勢を制御駆動するた
めのモータ１２と該ヘッドランプ１１の姿勢を検出する
ためのロータリーエンコーダ１３とからなるヘッドラン
プユニット１４は、コントロールユニット１５のマイク
ロコンピュータからなる中央制御装置２に対して、ロー
タリーエンコーダ１３からの出力をロータリーエンコー
ダインターフェース１６を介して検出角度を入力すると
共に、その入力値と出力値を比較してモータ制御回路１
７を介してモータ１２を駆動制御する。A headlamp unit 14 consisting of a motor 12 for controlling and driving the attitude of the headlamp 11 and a rotary encoder 13 for detecting the attitude of the headlamp 11 is a central control unit composed of a microcomputer of a control unit 15. The output from the rotary encoder 13 is input to the device 2 via the rotary encoder interface 16 as a detection angle, and the input value and the output value are compared and the motor control circuit 1
The motor 12 is drive-controlled via 7.
【００１８】また、符号１８は車速インターフェース１
９を介して搭載した自動二輪車の車速を中央制御装置２
に入力する車速センサであり、該中央制御装置２には、
ブレーキ装置に設けたブレーキスイッチ２０の状態もブ
レーキインターフェース２１を介して入力される構造に
なっている。尚、符号２２は電源回路である。Reference numeral 18 is a vehicle speed interface 1.
Central control unit 2 to control the vehicle speed of the motorcycle mounted via
Is a vehicle speed sensor which is input to
The state of the brake switch 20 provided in the brake device is also input through the brake interface 21. Reference numeral 22 is a power supply circuit.
【００１９】上記自動二輪車のヘッドランプの姿勢制御
装置は、図９に示すように、バンクセンサユニット１０
の発光部１からの二つの光束Ｌ１，Ｌ２を路面に向かっ
て照射すると共に、該発光部１からの照射光束Ｌ１，Ｌ
２の光点Ａ，ＢをＣＣＤ撮像機４によって撮像し、前述
した式と式により路面に対する発光部の傾斜角θ、
即ち自動二輪車のバンク角度を検出するもので、この検
出値によって直線路走行時（ａ）、或はカーブ路走行時
（ｂ）にそのバンク角θに応じてヘッドランプ１１の路
面に対する姿勢を補正し、常時安定した前方照射光束の
配光を得ることができるものである。As shown in FIG. 9, the attitude control device for the headlamp of the motorcycle has a bank sensor unit 10 as shown in FIG.
The two light fluxes L1 and L2 from the light emitting section 1 are emitted toward the road surface, and the light fluxes L1 and L from the light emitting section 1 are emitted.
The light spots A and B of 2 are imaged by the CCD imager 4, and the inclination angle θ of the light emitting portion with respect to the road surface,
That is, the bank angle of the motorcycle is detected, and the detected value corrects the attitude of the headlamp 11 with respect to the road surface according to the bank angle θ when traveling on a straight road (a) or traveling on a curved road (b). However, it is possible to always obtain a stable light distribution of the forward irradiation light flux.
【００２０】以上本発明を自動二輪車のバンク角計測装
置に実施したものについて説明したが、本発明の傾斜角
計測装置は、非接触によって対象物との距離を計測し、
また相対角度を計測することができるものであり、四輪
自動車のコーナリング時や加速時の姿勢制御その他に種
々の計測の目的に利用することができることはいうまで
もない。Although the present invention has been described as applied to the bank angle measuring device for a motorcycle, the tilt angle measuring device according to the present invention measures the distance to the object without contacting,
It is needless to say that the relative angle can be measured and can be used for various measurement purposes such as attitude control during cornering and acceleration of a four-wheeled vehicle.
【００２１】[0021]
【発明の効果】本発明に係る傾斜角計測装置は、以上の
ように構成したから、非接触で、静止体又は運動体に関
係なく、発光部の固定部と二つの投射光点の面との傾斜
角を求めることを可能とするものであり、更に、発光部
と投射面との距離、投射光点の回転角、及び一方向の回
転角と第二方向の傾斜角を同時に求める等の種々の計測
を可能にするものであり、本発明の実施により得られる
効果は極めて大きい。Since the tilt angle measuring device according to the present invention is configured as described above, it is not in contact with the stationary part or the moving part, and the fixed part of the light emitting part and the surfaces of the two projected light spots are provided. It is possible to determine the tilt angle of the light emitting part and the projection surface, the rotation angle of the projection light point, and the rotation angle in one direction and the tilt angle in the second direction at the same time. Since various measurements are possible, the effect obtained by implementing the present invention is extremely large.
【図１】本発明に係る傾斜角計測装置の構成の一例を示
すブロック線図である。FIG. 1 is a block diagram showing an example of the configuration of a tilt angle measuring device according to the present invention.
【図２】同傾斜角計測装置の演算原理を示す説明図の一
である。FIG. 2 is an explanatory diagram showing a calculation principle of the tilt angle measuring device.
【図３】同傾斜角計測装置の演算原理を示す説明図の二
である。FIG. 3 is an explanatory diagram showing the calculation principle of the tilt angle measuring device.
【図４】同傾斜角計測装置の演算原理を示す説明図の三
である。FIG. 4 is a third explanatory diagram showing a calculation principle of the tilt angle measuring device.
【図５】同傾斜角計測装置の演算原理を示す説明図の四
である。FIG. 5 is an explanatory diagram 4 showing the calculation principle of the tilt angle measuring apparatus.
【図６】同傾斜角計測装置の演算原理を示す説明図の五
である。FIG. 6 is an explanatory diagram V showing the calculation principle of the tilt angle measuring device.
【図７】本発明を応用した自動二輪車のヘッドランプの
姿勢制御装置の一例を示すヘッドランプの姿勢制御装置
のブロック線図である。FIG. 7 is a block diagram of a headlamp attitude control device showing an example of a headlamp attitude control device for a motorcycle to which the present invention is applied.
【図８】同ヘッドランプ姿勢制御装置を搭載した自動二
輪車の側面図である。FIG. 8 is a side view of a motorcycle equipped with the headlamp attitude control device.
【図９】（ａ）及び（ｂ）は、自動二輪車のバンク角と
ヘッドランプ姿勢制御装置の関係を示す説明図である。9 (a) and 9 (b) are explanatory views showing a relationship between a bank angle of a motorcycle and a headlamp attitude control device.
【図１０】（ａ），（ｂ）及び（ｃ）は、ヘッドランプ
固定車両におけるバンク角とヘッドランプの照射光束の
照度分布の関係を示す説明図である。10 (a), (b) and (c) are explanatory diagrams showing the relationship between the bank angle and the illuminance distribution of the luminous flux emitted from the headlamp in a headlamp fixed vehicle.
１ 発光部 ２ 中央制御装置 ４ ＣＣＤ撮像機 ６ 演算回路 ７ 処理選択入力部 １０ バンクセンサユニット １１ ヘッドランプ １２ モータ １３ ロータリーエンコーダ １４ ヘッドランプユニット １５ コントロールユニット １７ モータ制御回路 １８ 車速センサ ２０ ブレーキスイッチ ２２ 電源回路 1 Light Emitting Unit 2 Central Control Device 4 CCD Imager 6 Calculation Circuit 7 Processing Selection Input Unit 10 Bank Sensor Unit 11 Headlamp 12 Motor 13 Rotary Encoder 14 Headlamp Unit 15 Control Unit 17 Motor Control Circuit 18 Vehicle Speed Sensor 20 Brake Switch 22 Power Supply circuit
フロントページの続き (51)Int.Cl.6 識別記号 庁内整理番号 ＦＩ 技術表示箇所 Ｂ６２Ｊ 39/00 Ｊ Continuation of the front page (51) Int.Cl. 6 Identification number Office reference number FI technical display location B62J 39/00 J
Claims (1)
二つの有角度光束を発射する発光手段と、 前記計測対象面の二つの光点を撮影する撮像機と、 前記撮像機からの映像信号から二つの光点を検出し、該
光点間の距離の計測と予め入力した初期値との演算によ
り計測対象面に対する発光手段の位置を検出する中央制
御装置とからなり、 非接触により計測対象面に対する発光手段の変位角度を
検出することを特徴とする傾斜角計測装置。1. A light emitting unit that emits two angled light beams that irradiate and form two light spots on a measurement target surface, an imaging device that captures two light spots on the measurement target surface, and It consists of a central control unit that detects two light spots from a video signal, measures the distance between the light spots, and calculates the position of the light emitting means with respect to the measurement target surface by calculation with an initial value that has been input in advance. A tilt angle measuring device characterized by detecting a displacement angle of a light emitting means with respect to a surface to be measured.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP26832293A JPH0798225A (en) | 1993-09-29 | 1993-09-29 | Inclination angle measuring instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP26832293A JPH0798225A (en) | 1993-09-29 | 1993-09-29 | Inclination angle measuring instrument |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0798225A true JPH0798225A (en) | 1995-04-11 |
Family
ID=17456933
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP26832293A Pending JPH0798225A (en) | 1993-09-29 | 1993-09-29 | Inclination angle measuring instrument |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0798225A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001151016A (en) * | 1999-11-30 | 2001-06-05 | Yamaha Motor Co Ltd | Image indicator for saddle-riding type vehicule |
| JP2004189220A (en) * | 2002-12-09 | 2004-07-08 | Valeo Vision | Device for controlling direction of head lamp of vehicle and its method |
| JP2004189223A (en) * | 2002-12-09 | 2004-07-08 | Valeo Vision | System for controlling orientation of head lamp for vehicle and its method |
| JP2004210130A (en) * | 2002-12-27 | 2004-07-29 | Ichikoh Ind Ltd | Digital lighting system for vehicle, digital display apparatus for vehicle, and method of displaying information |
| JP2007230483A (en) * | 2006-03-03 | 2007-09-13 | Koito Mfg Co Ltd | Radiating direction controller for vehicular lighting unit |
| WO2009147799A1 (en) * | 2008-06-04 | 2009-12-10 | 株式会社小糸製作所 | Headlight aiming system |
| EP2762892A1 (en) * | 2013-01-31 | 2014-08-06 | Honda Motor Co., Ltd. | Vehicle speed calculator |
| EP2762394A1 (en) * | 2013-01-31 | 2014-08-06 | Honda Motor Co., Ltd. | Motorcycle |
-
1993
- 1993-09-29 JP JP26832293A patent/JPH0798225A/en active Pending
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4544440B2 (en) * | 1999-11-30 | 2010-09-15 | ヤマハ発動機株式会社 | Image display device for saddle riding type vehicle |
| JP2001151016A (en) * | 1999-11-30 | 2001-06-05 | Yamaha Motor Co Ltd | Image indicator for saddle-riding type vehicule |
| JP2004189220A (en) * | 2002-12-09 | 2004-07-08 | Valeo Vision | Device for controlling direction of head lamp of vehicle and its method |
| JP2004189223A (en) * | 2002-12-09 | 2004-07-08 | Valeo Vision | System for controlling orientation of head lamp for vehicle and its method |
| JP4557537B2 (en) * | 2002-12-09 | 2010-10-06 | ヴァレオ ビジョン | Apparatus and method for controlling direction of headlamp of vehicle |
| JP2004210130A (en) * | 2002-12-27 | 2004-07-29 | Ichikoh Ind Ltd | Digital lighting system for vehicle, digital display apparatus for vehicle, and method of displaying information |
| JP2007230483A (en) * | 2006-03-03 | 2007-09-13 | Koito Mfg Co Ltd | Radiating direction controller for vehicular lighting unit |
| JP4664219B2 (en) * | 2006-03-03 | 2011-04-06 | 株式会社小糸製作所 | Irradiation direction control device for vehicular lamp |
| WO2009147799A1 (en) * | 2008-06-04 | 2009-12-10 | 株式会社小糸製作所 | Headlight aiming system |
| US8480270B2 (en) | 2008-06-04 | 2013-07-09 | Koito Manufacturing Co., Ltd. | Headlamp aiming system |
| EP2762892A1 (en) * | 2013-01-31 | 2014-08-06 | Honda Motor Co., Ltd. | Vehicle speed calculator |
| EP2762394A1 (en) * | 2013-01-31 | 2014-08-06 | Honda Motor Co., Ltd. | Motorcycle |
| JP2014148240A (en) * | 2013-01-31 | 2014-08-21 | Honda Motor Co Ltd | Motorcycle |
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