JPH08178615A - Position detecting device and guide device of moving body - Google Patents

Abstract

PURPOSE: To set a device for position detecting at the ground surface side simply and in a short time, without using a specific positioning adjusting work. CONSTITUTION: At the ground surface side, a tracking position measuring means 100 to measure the position of a moving body A while tracking the moving body A; standard position display means P1 and P2; a standard position detecting means PK to detect the standard positions displayed to the standard position display means P1 and P2; and a ground surface side data memory means R to store the ground surface side data including the set positions of the standard position display means P1 and P2; are provided. The position measuring means 100 discriminates its own position depending on the detetecting data of the standard position detecting means PK, and the storing data of the ground surface side data memory means R, and the position of the moving body A is measured by making the discriminated own position as the standard.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position detecting device for a moving body, in which a tracking type position measuring means for measuring the position of the moving body while tracking the moving body is provided on the ground side, and
Regarding induction device.

[0002]

2. Description of the Related Art Such a position detecting device for a moving body is shown in FIG. 1 and FIG. 8 as reference drawings (it should be noted that FIGS. 1 and 8 are drawings for explaining an embodiment of the present invention). An image is taken by an image sensor S or the like in which a light emitting body 20 such as a light bulb and a reflector 19a are provided in a work vehicle A of an automatic traveling type as a body, and the light emitting body 20 is provided in an automatic tracking type position measuring device B on the ground side. While performing tracking control so as to capture the image within the screen (for example, the center position of the screen), information on the distance to the work vehicle A detected by the laser length measuring device 13, the imaging angle of the image sensor S, and the light emission within the screen. The position of the work vehicle A is measured based on the azimuth information of the work vehicle A obtained based on the position information of the body 20 (for example, Japanese Patent Application No. 5-161783 previously proposed by the applicant). No.).

[0003]

However, in the above prior art, the work vehicle A is based on the positions of the image sensor S, the laser length measuring device 13, etc., that is, the position of the ground side device B.
Since the ground side device B is measured, the ground side device B needs to be accurately positioned and installed at the set position (for example, the midpoint between the sides k1 and k4 shown in FIG. 8). There is a problem that a complicated and time-consuming positioning adjustment work is required at the time of installation, and improvement has been desired.

The present invention has been made in view of the above circumstances, and an object thereof is to eliminate the problems of the prior art, simply and in a short time without requiring special positioning adjustment work. Is to be able to install.

[0005]

A first characteristic configuration of a position detecting device for a moving body according to the present invention is provided with reference position display means for displaying a reference position on the ground side, and the reference position display means is provided. Reference position detection means for detecting the displayed reference position and ground side information storage means for storing ground side information including the arrangement position of the reference position display means are provided, and the position measurement means is for the reference position detection. Based on the detection information of the means and the storage information of the ground side information storage means, the position of the self on the ground side is determined, and the position of the moving body is measured based on the determined position of the self. It is a point that is configured.

According to a second characteristic construction, the reference position display means is composed of a light reflection means, and the reference position detection means sets the projection direction of the detection light toward the light reflection means. In this state, an optical distance detecting means for detecting the distance to the light reflecting means is provided.

A third characteristic structure is that the moving body is provided with a light reflector and a light emitting body, and the position measuring means captures an image of the light emitting body, and an image capturing screen of the image capturing means. And an image for detecting the position of the light emitting body on the image capturing screen based on the image capturing information of the image capturing means, and the tracking control means for operating the image capturing angle adjusting means of the image capturing means so as to capture the light emitting body at a predetermined position inside. Processing means and imaging angle detection means for detecting an imaging angle of the imaging means are provided, and the distance detection means sets the projection direction of the detection light along the imaging direction of the imaging means. Configured to detect the distance to the reflector, the position measuring means,
The position of the moving body is measured based on the in-screen position information of the image processing unit, the imaging angle information of the imaging angle detection unit, and the distance information of the distance detection unit.

Further, the moving body guiding apparatus according to the present invention is characterized in that the moving body according to the first, second or third characteristic structure is moved to a ground side along a predetermined route. And a ground-side communication means are provided, and the azimuth detecting means for detecting the vehicle body azimuth of the moving body and the detection information of the azimuth detecting means are transmitted to the ground-side communication means. Mobile body side communication means and steering means for steering the mobile body based on the received information of the mobile body side communication means are provided, and the control means is the vehicle body of the mobile body received by the ground side communication means. The steering control information for the steering means obtained based on the azimuth information and the position information of the moving body by the position measuring means is transmitted to the moving body side communication means via the ground side communication means. Is configured to Located in.

[0009]

According to the first characteristic configuration of the position detecting device for a moving body according to the present invention, the reference position displayed by the reference position display means installed on the ground side is the reference position provided on the position measuring means side. The ground position information and the detected reference position information, which are detected by the detection means and are stored in advance in a state including the arrangement position of the reference position display means, that is, the reference position information, are referred to, and the position measurement means The position of the self on the ground side is determined, and the position of the tracked moving body is measured with the determined position of the self as a reference.

According to the second characteristic constitution, in the first characteristic constitution, the optical distance detecting means provided in the reference position detecting means is replaced with the reference position displaying means constituted by the light reflecting means. The distance to the light reflecting means is detected in the state where the projection direction of the detection light is set toward the detection direction, and the reference position is detected based on the distance information.

According to the third characteristic configuration, in the second characteristic configuration, tracking for adjusting the imaging angle so as to capture the light emitter on the moving body side at a predetermined position in the image pickup screen of the image pickup means on the ground side. While performing control, the position of the light emitter on the image pickup screen is detected and the image pickup angle is detected, and the optical distance detecting means sets the projection direction of the detection light along the image pickup direction of the image pickup means. In that state, the distance to the light reflector is detected. Then, based on the information on the position within the screen of the light emitting body and the imaging angle of the image pickup means, in other words, the azimuth angle of the light emitting body, that is, the moving body, and the distance to the light reflecting body, that is, the moving body, which are discriminated from the information. , The position of the moving body is measured.

Further, according to the characteristic configuration of the moving body guiding apparatus according to the present invention, the vehicle body direction of the moving body according to the first, second or third characteristic configuration is detected on the moving vehicle side, and the vehicle body is detected. The azimuth information is transmitted from the mobile communication unit to the ground communication unit. On the ground side, the control means for movement control obtains steering control information for the tracked mobile body based on the received vehicle body direction information of the mobile body and the position information of the mobile body by the position detection means. The steering control information is transmitted from the ground side communication means to the mobile body side communication means. And
On the moving body side, the moving body is steered so as to move along a predetermined route based on the received steering control information.

[0013]

According to the first characterizing configuration of the position detecting device for a moving body according to the present invention, the position measuring means on the ground side, when installed, detects the reference position on the ground side and automatically detects its own position. Therefore, as in the prior art, in order to accurately position and install the ground side position measuring means (the above-mentioned ground side device B) at a preset position, the installation work is complicated and The problem of requiring a long time is solved, and therefore, a position detecting device for a moving body can be obtained in which the installation work of the device is simple and can be completed in a short time, and the work efficiency can be improved.

Further, according to the second characteristic configuration, since the reference position on the ground side is detected by the optical distance detecting means, higher detection accuracy can be obtained as compared with, for example, the ultrasonic distance detecting means. It is possible to detect the reference position over a wide range while maintaining it. Therefore, it is possible to obtain a suitable means for implementing the first characteristic configuration.

Further, according to the third characteristic configuration, in a state where the light emitter on the moving body side is securely caught at a predetermined position in the image pickup screen,
The detection of the azimuth angle of the moving body and the detection of the distance to the moving body can be performed under high precision conditions.
Suitable means for implementing the characteristic construction of

Further, according to the characteristic configuration of the guide device for a moving body according to the present invention, the moving body is based on the position information measured while tracking the moving body from the ground side and the vehicle body direction information detected on the vehicle body side. The vehicle can be accurately guided and traveled along a predetermined route, and thus a good guiding device for a mobile body according to the first, second or third characteristic configuration can be obtained.

[0017]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, a light bulb 20 as a light-emitting body is installed in an automatic traveling work vehicle A (for example, a rice planting work vehicle), and as an image pickup means for picking up an image of a predetermined range including the light bulb 20. The image sensor S is provided in the automatic tracking type position measuring device B installed on the ground side.

In the automatic tracking type position measuring device B, a laser length measuring device 13 as an optical distance detecting means for detecting the distance to the light bulb 20 is used, and a projection direction of the detection light b is directed to the image sensor S. The image sensor S and the laser length measuring device 13 are fixedly installed on the installation table 9 as a unit while being installed in a state of being set along the image pickup direction. Further, there are provided a turning motor 11 for turning the installation table 9 around the vertical axis θ, and a swing motor 12 for rotating the installation table 9 around the horizontal axis φ. 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. The turning motor 11 and the swinging motor 12 have encoders 11a and 12a respectively built therein (see FIG. 3), and the image pickup angle of the image sensor S is detected based on the information of the encoders 11a and 12a. It is supposed to be done. Therefore, the encoders 11a and 12a constitute imaging angle detection means 11a and 12a for detecting the imaging angle of the image sensor S.

The light bulb 20 is installed at the tip of a column 19 standing upright on the work vehicle A. On the outer peripheral surface of the column 19, beam light for distance detection projected from the laser length measuring device 13 is installed. A reflection sheet 19a is formed as a light reflector that reflects b in the incident direction. Incidentally, the light bulb 2
0 is continuously lit by a power source (not shown).

As shown in FIG. 2, the image sensor S
Is composed of an electric zoom lens 14 that constitutes an optical system, and a monochrome CCD sensor 15 equipped with an electronic shutter that is an imaging unit. 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
Are provided. Then, the light from the electric bulb 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 is configured to form an image on a CCD element 27 which is an imaging element provided in the CCD sensor 15. ing. The optical filter 24 is used for the light bulb 20.
The transmittance is increased with respect to the emission wavelength of.

Next, referring to FIG. 3, a control configuration will be described. An image pickup angle controller 49, an image sensor controller 50, a laser length measuring device controller 51,
Also, a main controller C for controlling these controllers 49, 50, 51 is provided. The image pickup angle controller 49 receives the image pickup angle information of the image sensor S from the encoders 11a and 12a, and the turning motor 11 and the swinging motor 1 are input.
The drive signal for 2 is output. The image sensor controller 50 receives the image pickup information of the CCD sensor 15, the detection information of the first potentiometer 34 and the second potentiometer 36, and the CC
Drive signals for the D sensor 15, the focus drive motor 33, and the zoom drive motor 35 are output. The laser length measuring device controller 51 receives the distance detection information from the laser length measuring device 13 and outputs a drive signal for causing the laser length measuring device 13 to perform distance detection at a predetermined detection timing. ing. The main controller C is connected to a transceiver 10 as ground-side communication means for transmitting and receiving control information to and from the work vehicle A.

Using the image sensor controller 50, based on the image pickup information of the image sensor S,
Image processing means T for detecting the position of the light bulb 20 in the image pickup screen of the image sensor S is configured. That is, as shown in FIG. 6, the image pickup screen 2 of the image sensor S
With the center point O of 9 as the origin, the center of gravity position G of the area corresponding to the light bulb 20 is set with the screen horizontal direction set to the x'axis (right direction is plus) and the screen vertical direction is y'axis (upward is plus). Then, the deviations X and Y between the center of gravity position G and the screen center point O are detected, and the deviations X and Y are used as the position information of the light bulb 20 within the imaging screen. In this example, the deviation Y in the y′-axis direction is almost 0, and only the deviation X in the x′-axis direction is shown.

The main controller C is configured to change and adjust the imaging magnification of the image sensor S based on the distance information to the light bulb 20 detected by the laser length measuring device 13. That is, the electric zoom 1 increases the imaging magnification as the distance to the light bulb 20 increases and decreases the imaging magnification as the distance to the light bulb 20 decreases.
By moving the lens position of No. 4, the size of the light bulb 20 in the imaging screen is maintained at an appropriate size. More specifically, as shown in FIG. 4 (the vertical axis in the figure represents the drive voltage (V) of the zoom drive motor 35), the distance from the standard characteristic M of the distance to the lens position to the light bulb 20 is When L (m), the drive voltage for setting the proper lens position is d (V), and this proper drive voltage d
It is controlled so as to fall within ± 1 / 2Δd above and below (V). Further, when the movement direction of the light bulb 20 in the image pickup screen is the lateral direction, the control path 40 along the standard characteristic M is used for control, but when the movement direction is the perspective direction, that is, in the image pickup screen. When the distance changes while the position of the light bulb 20 does not change so much, the control paths 41 and 42 that are faster than the control path 40 that follows the standard characteristic M.
(41 is a route when moving to the far side, and 42 is a route when moving to the approaching side). As a result, the delay in tracking control is minimized.

Further, by using the main controller C, for turning the light bulb 20 so as to catch the light bulb 20 at a predetermined position in the image pickup screen of the image sensor S, specifically, the center point O of the image pickup screen 29. Tracking control means 101 for operating the motor 11 and the swinging motor 12, in-screen position information of the image processing means T, the encoders 11a, 1
Tracking-type position measuring means 100 for measuring the position of the light bulb 20, that is, the work vehicle A while tracking the light bulb 20 based on the imaging angle information of 2a and the distance information of the laser length measuring device 13.
In order to move the work vehicle A along a predetermined route, a control means 102 that controls the movement is configured.

Explaining the tracking control means 101, it takes a predetermined processing time for the image processing means T to detect the position in the screen, and therefore, as shown in FIG. (Indicated by the angle around the axis θ) is obtained as positions at discrete detection points at intervals. In the figure, the light bulb 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 J as described above. It should be noted that the angle about the vertical axis θ is positive in the clockwise direction (clockwise) when viewed from above, and the angular position around the horizontal axis φ of the light bulb 20 does not change. From the above, the rate of change θv of the angular position around the vertical axis θ of the light bulb 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.

[0026]

## EQU1 ## θv = (θ0-θ1) / (t0-t1)

Therefore, in order to catch the light bulb 20 at the center point O of the screen at the next angle detection time point after the current angle detection time point t0, x'detected by the image processing means T.
Considering the correction amount for the deviation X (FIG. 6) in the axial direction and the rate of change θv of the angular position around the vertical axis θ, the turning amount Δθ around the vertical axis θ is determined by the following equation, This turning amount Δ
The turning motor 11 is operated at θ. In addition, a
1, a2 are predetermined gain coefficients (a1> 0, a2>
0).

[0028]

[Formula 2] Δθ = a1 · X + a2 · θv

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 the transceiver 10 on the ground side. A transmitter / receiver 16 is connected as a mobile unit communication means for transmitting / receiving information to / from. Further, from the work vehicle controller H, a traveling motor 17 for shifting the traveling transmission device 18,
The steering motor 21 for operating the steering device 22 and the working device 25 are operated (for example,
In the case of a rice transplanter, a drive signal is output to the working device actuator 26 for raising and lowering the planting device, which is a working device. Further, the work vehicle controller H is inputted with the detection information of the azimuth sensor 19 utilizing geomagnetism as the azimuth detecting means for detecting the body azimuth of the work vehicle A, and the detection information is transmitted and received by the transceiver 16 on the ground side. It is transmitted to the machine 13. In addition, this vehicle body orientation information is the long sides k1, k2 (k
3, k4) is set as a reference azimuth angle of 0.

Then, by using the work vehicle controller H, the operation for steering the work vehicle A based on the information received by the transceiver 16 (that is, the steering control information transmitted from the transceiver 10 on the ground side). The direction means 103 is configured, and the ground side control means 102 controls the vehicle body direction information of the work vehicle A received by the transceiver 10 and the position measuring means 10.
The steering control information for the steering means 103 obtained based on the position information of the working vehicle A by 0 is transmitted to the transceiver 16 on the working vehicle A side via the transceiver 10 on the ground side. It is configured.

On the ground side, as shown in FIG.
Is provided with a rectangular field F of one section, which is guided and run while planting seedlings. The work vehicle A is arranged in the lateral direction (y-axis direction) along the longitudinal direction (x-axis direction) of the field F.
180 work in adjacent work strokes at the end of each work stroke while traveling in a plurality of work strokes juxtaposed in the axial direction).
The robot is guided and controlled so as to travel through the entire range of the field F by repeating the reciprocal traveling in which the vehicle travels by turning once and travels in the opposite direction in the work stroke. In the figure, k0 is the entrance of the work vehicle A to the field F.

One end side in the longitudinal direction of the field F (k in the figure)
2, k3), reference poles P1 and P2 as reference position display means for displaying the reference position are provided at predetermined positions near both corner positions k2 and k3 of the field. As shown in FIG. 9, each of the reference poles P1 and P2 is composed of a cylindrical light reflecting plate 28 as a light reflecting means supported by a support 27 at a predetermined height above the ground. Similar to the reflection sheet 19a provided on the work vehicle A, the specific configuration has a characteristic of reflecting incident light in the incident direction.

The end of the field F in the longitudinal direction on the side opposite to the side on which the reference poles P1 and P2 are installed (k in the figure).
1, the automatic tracking type position measuring device B is installed. Then, in the automatic tracking type position measuring device B, a reference position displayed by the reference poles P1, P2, that is, a reference position for detecting an arrangement position of the reference poles P1, P2 installed by setting the position in advance. Detection means PK
And a ground-side information storage means R for storing ground-side information including the arrangement positions of the reference poles P1 and P2. As the ground side information, the coordinates of the reference poles P1, P2, the coordinates of the corners k1, k2, k3, k4 of the field F, the position of the entrance / exit k0, the work stroke information (stroke width, stroke length, the number of strokes) Etc.), the default position kd for work vehicle A
The coordinates of (standard work start position) and the like are stored. Then, the reference position detecting means PK is configured to operate the reference pole P.
The laser length measuring device 13 is provided as an optical distance detecting means for detecting the distance to the light reflecting plate 28 in a state where the projection direction of the detection light is set toward the light reflecting plates 28 of 1 and P2, and , The laser length measuring device controller 51 and the main controller C are used, and the ground side information storage means R is configured using the main controller C (see FIG. 3). Therefore, the installation position information of the reference poles P1 and P2 which is known in advance and the reference pole P
The installation position of the position measuring device B is obtained from the distance information detected for each of P1 and P2.

Then, the position measuring means 100 determines its own position on the ground side based on the detection information of the reference position detecting means PK and the stored information of the ground side information storing means R, and The position of the work vehicle A is measured on the basis of the determined own position.

Next, the specific configuration of the position measurement of the work vehicle A by the automatic tracking type position measurement device B and the guided traveling of the work vehicle A will be described with reference to the flowcharts shown in FIGS. 10 and 11.

In the main routine (FIG. 10), first,
The position measuring device B is installed in the field, but its installation position is
Usually, as shown in FIG. 8, it is near the midpoint of the side indicated by k1 and k4. Next, the map file of the current field is selected and read from the ground side information (hereinafter referred to as a map file) stored in the ground side information storage means R. Then, based on the map file information, the installation position of the position measuring device B is recognized by the aforementioned reference position detecting means PK.

Next, the light bulb 20 of the work vehicle A is operated so as to be caught at the center point O of the image pickup screen of the image sensor S,
After detecting the position of the work vehicle A from the azimuth information and the distance information, the first trajectory data (stored in units of rows) is read and the deviation between the trajectory and the vehicle body position is calculated. If the track deviation is not within the set value (for example, 1 m), the next track data is read, and the track data is sequentially read and the track deviation is calculated until the track deviation falls within the set value. Here, even if all the orbital data in the file is read, if the orbital deviation does not fall within the set value,
Since it is determined that the current vehicle body position is inappropriate, the vehicle body position is changed by manually moving to the trajectory to be guided or moving to the default position kd. Then, the position of the work vehicle A after the movement is detected,
The above-mentioned orbit data is read and the orbit deviation is calculated again, and when the orbit data within which the orbit deviation falls within the set value is found, the orbit and vehicle body position are displayed on a TV monitor or the like not shown. Looking at this display, when the operator or the like commands the start of guidance, the vehicle guidance along the trajectory is started, while if the guidance is not started, the flow from the change of the vehicle position is repeated.

In the vehicle body guidance (FIG. 11), the orbit data is set in the calculation buffer and then the laser length measuring device 1 is used.
3 (abbreviated as PSR) and the image processing means T (VS) using the image sensor controller 50.
Data is requested to (abbreviated as X). Where VSX
Processing takes time, so after waiting for the time until the processing is completed, the distance data from the PSR, the in-screen position data from the VSX, and the imaging angle controller 4
The imaging angle data of the encoders 11a and 12a is read from 9. Then, the azimuth angle is determined from the in-screen position data and the imaging angle data, the vehicle body position is calculated from the azimuth angle and the distance data, and the control amount for automatic tracking is obtained. Activate the tracking operation.

Next, it is checked whether or not the calculated vehicle position is located at the end of the track. If it is not the end of the track, the vehicle body azimuth data is received from the work vehicle A, the steering angle of the vehicle body is calculated from the vehicle body azimuth angle and the deviation of the vehicle body position with respect to the track, and the steering angle data, and The control information for other gear shifting operations and for operating the working machine (planting device, etc.) is transmitted to the work vehicle A. Then, on the vehicle body side, control of steering, gear shifting, and work implement operation is performed according to the received control information. on the other hand,
If it is the end of the orbit, read the next orbit data,
Based on the trajectory data, the flow from the reception of the vehicle body azimuth data of the work vehicle A is repeated. When the processing for the data in the file has been completed by the reading of the next track data, the processing for guiding the vehicle body is completed, and the process returns to the main routine.

[Other Embodiments] Next, other embodiments will be listed. In the above embodiment, the ground-side reference position display means P1, P2
Is configured with a pair of reference poles P1 and P2 provided on the sides of the field F so as to display the reference position for the field F of one section in which the moving body (work vehicle A) moves. In the case where F is adjacent to a plurality of sections, the reference position display means may be a common reference position display means for the fields of the plurality of sections, for example, outside the entire field of the plurality of sections. It can also be configured with a pair of reference poles installed at a predetermined distance from each other.

In the above embodiment, the reference position display means P1 and P2 provided on the ground side are constituted by the light reflecting means (light reflecting plate 28), and the reference position detecting means PK is operated by the light reflecting means (light reflecting means). The optical distance detecting means (laser length measuring device 13) for detecting the distance to the plate 28) is provided to detect the reference positions of the reference position displaying means P1 and P2. The distance detecting means is not limited to the above distance detecting means. For example, a distance detecting means that uses waves such as ultrasonic waves and radio waves may be provided.

In the above embodiment, the optical distance detection is performed in which the detection light is projected toward the light reflection means 28 of the reference position display means P1 and P2 and the light reflection body 19a on the moving body A side to detect the distance. The means is configured by the laser length measuring device 13 that projects a laser beam as detection light, but the invention is not limited to this. For example, an LED that projects monochromatic light of a predetermined width or a distance detector that projects white light. But it's okay. Further, the specific configurations of the light reflection means 28 and the light reflector 19a are not limited to the reflection sheet as in the embodiment.

In the above embodiment, the light emitting body 20 provided on the moving vehicle side for performing tracking control and position detection of the moving body is exemplified by a circular light bulb. However, in addition to the light bulb, for example, LED light emission is performed. A container or the like may be used, and the shape thereof is not limited to the circular shape. Further, in the above embodiment, the light emitting body 20 is made to continuously emit light, but it may be made to emit light intermittently rather than continuously so that the image pickup means (image sensor S) performs the image pickup operation in synchronization with the light emission timing.

In the above embodiment, as the image pickup means S provided on the ground side for carrying out tracking control and position detection of the moving body,
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 image pickup angle adjusting means of the image pickup means S is composed of the electric motors 11 and 12, but other actuators can be used in addition to the motors.
Further, in the above-described embodiment, the image pickup angle detection means of the image pickup means S is the encoders 11a, 1 having the motors 11, 12 built therein.
Although it is constituted by 2a, it is also 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 101 is
Although the case where the light bulb 20 is controlled so as to be captured at the center point O of the imaging screen has been described as an example, in addition to this, it is also possible to capture the light bulb 20 within a predetermined range including the center point O of the screen, for example, in the vicinity region K of FIG. it can. Further, the case where the tracking control means 101 uses both the information on the position (deviations X and Y from the center point O) of the light bulb 20 in the imaging screen and the moving speed of the light bulb 20 as the information for tracking is shown. However, the control can be simplified by using only the position information of the light bulb 20 within the imaging screen.

In the above embodiment, the vehicle body direction detecting means of the moving body A is constituted by the direction sensor 19 utilizing geomagnetism, but other than this, for example, a direction sensor utilizing a laser gyro may be used.

In the above-mentioned embodiment, the example of the moving body is the automatic traveling type working vehicle A. However, other than this, a working vehicle in which a driver rides and is manually driven may be used.
In this case, information on the current position and orientation of the vehicle body is displayed on the display screen or the like, and the vehicle is manually driven 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 external view showing a moving body and an automatic tracking type position measuring device.

FIG. 2 is a cross-sectional side view showing a configuration of an image pickup unit.

FIG. 3 is a block diagram showing a control configuration of an automatic tracking type position measuring device.

FIG. 4 is a characteristic diagram illustrating zoom operation.

FIG. 5 is a block diagram showing a control configuration on the moving body side.

FIG. 6 is an explanatory diagram of a process for detecting the position of a light emitter in the image pickup screen.

FIG. 7 is an explanatory diagram of tracking control.

FIG. 8 is a plan view showing a field on the ground side on which a mobile body is guided to travel.

FIG. 9 is a side view showing a reference position display means.

FIG. 10 is a flowchart illustrating a control operation.

FIG. 11 is a flowchart illustrating a control operation.

[Explanation of symbols]

 A moving body 100 position measuring means P1, P2 reference position displaying means PK reference position detecting means R ground side information storing means 28 light reflecting means 13 distance detecting means 19a light reflecting body 20 light emitting body S imaging means 101 tracking controlling means 11, 12 Imaging angle adjusting means T Image processing means 11a, 12a Imaging angle detecting means 102 Control means 10 Ground side communication means 19 Direction detection means 16 Mobile body side communication means 103 Steering means

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI Technical display location // G05D 1/02 K (72) Inventor Masaaki Nishinaka 64 Ishizukitamachi, Sakai City, Osaka Prefecture Co., Ltd. (72) Inventor Masanori Fujiwara, 64, Ishizukitamachi, Sakai City, Osaka Prefecture, Kubota Sakai Plant, Inc. (72) Ryozo Kuroiwa, 64, Ishizukitamachi, Sakai City, Osaka Prefecture In-house

Claims (4)

[Claims] 1. A tracking type position measuring means (10) for measuring the position of a moving body (A) while tracking the moving body (A).
0) is a position detecting device for a moving body provided on the ground side, which is a reference position display means (P) for displaying the reference position on the ground side.
1, P2) are provided, the reference position detecting means (PK) for detecting the reference position displayed by the reference position displaying means (P1, P2), and the arrangement positions of the reference position displaying means (P1, P2). And a ground side information storage means (R) for storing ground side information including the ground side information, and the position measurement means (100) detects the detection information of the reference position detection means (PK) and the ground side information storage means (R). )
Of the moving body which is configured to determine its own position on the ground side based on the stored information of the moving body and to measure the position of the moving body (A) with reference to the determined own position. Position detection device. 2. The reference position display means (P1, P2)
Is constituted by a light reflection means (28), and the reference position detection means (PK) sets the projection direction of the detection light toward the light reflection means (28). 2. The position detecting device for a moving body according to claim 1, further comprising an optical distance detecting means (13) for detecting a distance to (1). 3. A light reflector (19) is attached to the moving body (A).
a) and a light emitting body (20) are provided, the position measuring means (100) has an image capturing means (S) for capturing an image of the light emitting body (20), and a predetermined image in the image capturing screen of the image capturing means (S). Imaging angle adjusting means (11, 12) of the imaging means (S) so as to catch the light emitting body (20) at a position.
Tracking control means (101) for operating the image pickup means, image processing means (T) for detecting the position of the light emitting body (20) on the image pickup screen based on the image pickup information of the image pickup means (S), and the image pickup means ( Image pickup angle detection means (11a, 12a) for detecting the image pickup angle of S), and the distance detection means (13) projects the detection light along the image pickup direction of the image pickup means (S). The position measuring means (100) is configured to detect the distance to the light reflector (19a) in the set state, and the position measuring means (100) includes the in-screen position information of the image processing means (T) and the imaging angle detecting means ( 11
a, 12a) imaging angle information and the distance detecting means (1
The position detecting device for a moving body according to claim 1 or 2, which is configured to measure the position of the moving body (A) based on the distance information of 3). 4. A control means (102) for controlling the movement of the moving body (A) according to claim 1, 2 or 3 to a ground side along a predetermined route, and a ground side communication means. (10) is provided, the azimuth detecting means (19) for detecting the vehicle body azimuth of the moving body (A), and the detection information of the azimuth detecting means (19) to the ground side communication means (10). Mobile-side communication means (16) for transmitting toward the mobile-side communication means (16)
Steering means (103) for steering the moving body (A) on the basis of the reception information of the mobile body (A), and the control means (102) includes the ground side communication means (1).
0) Steering with respect to the steering means (103) obtained based on the vehicle body direction information of the moving body (A) received by the position measuring means (100) and the position information of the moving body (A) by the position measuring means (100). A mobile guiding device configured to transmit control information to the mobile communication means (16) via the ground communication means (10).