JPH08292250A - Apparatus for detecting position of moving body - Google Patents

Abstract

PURPOSE: To provide a position-detecting apparatus which can reduce the number of light-reflecting means, does not require light beams to be scanned in the whole periphery of a moving body, and does not psychologically trouble people in the vicinity with scanning of light beams, without a setting position thereof limited to above the moving body. CONSTITUTION: A position of a moving body V is detected by turning/scanning light beams. The apparatus is provided with two light-reflecting means P1 , P2 separated from the moving body V for reflecting light to a direction of an incident light, two light beam-generating means W1 , W2 set on the moving body V for generating light beams, a light beam-scanning means for scanning light beams in a turning direction and a photodetecting means (W1 , W2 ) for receiving reflecting lights from the light-reflecting means P1 , P2 . Moreover, the apparatus is provided with an angle-detecting means for detecting an angle defined between the light beam-generating means W1 , W2 in a predetermined direction and the light-reflecting means P1 , P2 based on an output of the photodetecting means and an operating means 31 for operating positions of the light beam-generating means W1 , W2 based on the position data of the light-reflecting means P1 , P2 and the detected angle.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an improvement of a position detecting device for detecting the position of a moving body such as an automated guided vehicle or an automobile which runs in a factory, a warehouse, an office building or the like by utilizing light reflection. It is a thing.

[0002]

2. Description of the Related Art A position detecting device for a moving body that detects the position of a moving body such as an automated guided vehicle or an automobile traveling in a factory, a warehouse, an office building or the like by using light reflection has an inexpensive structure. No need for maintenance and inspection, nor is it regulated by the Radio Law. As such a conventional position detecting device, there is one disclosed in Japanese Patent Publication No. 4-67609. This is because two light reflecting means whose coordinate positions are known are provided on both sides of the path of the moving body, and the reflected light from the two light reflecting means of the light beam that is orthogonal to the moving direction of the moving body and travels in the opposite directions. The moving direction of the moving body with respect to the reference direction is obtained from the distance traveled by the moving body during the detection. An angle with respect to the moving azimuth of the moving body and a coordinate of the two light reflecting means, which are different from the light beams traveling in the opposite directions and which are rotated and scanned, are reflected from the two light reflecting means. The position of the moving body is obtained from the position.

Further, FIG. 7 shows a principle diagram of another example of the conventional position detecting device for such a moving body. This is special fair 2
4 is a principle diagram of a position detection device disclosed in Japanese Patent Publication No. 48069. In this principle diagram, what is finally obtained is
The position and the moving direction of the moving body V. The position of the moving body V is, for example, xy with the north direction on the y axis and the east direction on the x axis.
It is obtained as coordinates (xv, yv) in the Cartesian coordinate system. Further, the moving direction of the moving body V is obtained as angle information φ from the y axis. The moving body V includes a light beam generating means for generating a light beam, a light beam scanning means for rotationally scanning the light beam by 360 °, and a light receiving means for receiving the reflected light from the light reflecting means A, B and C. Is equipped with.

The three light reflecting means A, B and C are provided at positions apart from the moving body V. These light reflecting means A,
B and C are fixed to the ground outdoors, for example, at an airfield, and fixed to the ceiling and walls indoors, such as in a factory. Further, the light reflecting means A, B, C are positioned so that they have substantially the same height. Here, the light reflecting means A, B, and C are required to have an optical property of reflecting the incident light in the direction of the incident light. For example, such optical properties can be obtained by combining a plurality of tetrahedral prisms. This is called a corner cube,
It is commercially available.

As described above, the light beam is rotated and scanned by 360 ° from the moving body V, but this scanning surface is the same plane as the plane formed by the light reflecting means A, B and C, and the movement is performed. The light beam emitted from the body V (light beam generating means) sequentially enters according to the positional relationship of the light reflecting means A, B, and C. The light reflecting means A, B, C reflect the light incident from the moving body V in the incident direction, that is, the direction of the moving body V. Therefore, the moving object V (light beam generating means) is received by the moving object V by receiving the light beams sequentially reflected from the light reflecting means A, B, and C and detecting the projection direction of the light beam at that time. It is possible to know the opening angle β with respect to the light reflecting means B and C and the opening angle α with respect to the light reflecting means C and A. For this purpose, the moving body V is further provided with a light receiving means and an opening angle detecting means for detecting an opening angle between the light reflecting means A, B and C based on the light receiving output of the light receiving means. .

Here, focusing on the moving body V, the light reflecting means A, and the light reflecting means C, one circle 1 passing through the three points can be drawn. The equation showing the locus of the circle 1 can be obtained from the position information of the light reflecting means A and the light reflecting means C and the opening angle α thereof. What is more, the light reflecting means A and the light reflecting means C viewed from the moving body V (light beam generating means).
If the opening angle between and is constant α, the moving object V is always circle 1.
Because it is located above. That is, if the positions of two points out of three different points on the same circle and the opening angle of two points viewed from the other one point are known, the equation of a circle passing through the three points can be obtained. Similarly, the equation of the circle 2 passing through the moving body V, the light reflecting means C, and the light reflecting means B includes the positional information of the light reflecting means C and the light reflecting means B, and the light reflecting means C seen from the moving body V. It can be easily obtained by the opening angle β with the light reflecting means B.

If the equations of circle 1 and the equation of circle 2 obtained as described above are used as simultaneous equations and a solution with the position coordinates of the moving body V as an unknown is obtained, the position of the intersection of circle 1 and circle 2 is obtained. That is, the positions of the moving body V and the light reflecting means C can be obtained. Since the position of the light reflecting means C is known in advance, the position of the moving body V can be obtained from the obtained solution. In order to perform the above calculation, the moving body V is provided with a calculation means. The position information of the light reflecting means A, B, C is preset in this computing means, and the opening angle detected by the opening angle detecting means is given.
The moving direction φ of the moving body V can be obtained if the position of the moving body V is known.

[0008]

[Patent Document 1] Japanese Patent Publication No. 4-67
In the position detecting device disclosed in Japanese Patent No. 609, three light beam generating means are required and the light reflecting means must be provided on both sides of the passage, so that the position coordinates and the laying position can be measured during installation. troublesome. In addition, special fair 2-
Since the position detecting device disclosed in Japanese Patent No. 48069 requires at least three light reflecting means, arranging the light reflecting means on the same wall increases the number of light reflecting means and requires labor for installation. Therefore, in practice, a light reflecting means is provided around the moving body, but then, the light beam scanning means must be installed on the upper side of the moving body where the line of sight is effective. There is a problem of restrictions during transfer, especially in the case of a small car, the light beam always crosses the chest and eyes of a person, which is a psychological problem.

The present invention has been made in view of the above circumstances, and includes two light reflecting means, two light beam scanning units, a predetermined direction in each of the light beam scanning units, and two light reflecting means. Of the light reflecting means by providing the opening angle detecting means for detecting the opening angle of the moving body and the calculating means for calculating the position of the moving body based on the position information of the two light reflecting means and the detected opening angle. The number can be reduced, and in practical use, the position can be detected by the light reflecting means laid on the wall surface on the right or left of the moving body, and it is not necessary to scan the entire circumference of the light beam, and the mounting place is It is no longer limited to the upper part of the moving body, and the height of the light beam can be lowered. Therefore, there is a problem of the shape of the moving body, restrictions on transfer of transported objects, and psychological problems of people in the vicinity. Provides a position detection device that eliminates For the purpose of Rukoto.

[0010]

A position detecting device according to a first aspect of the present invention is a position detecting device for a moving body, which detects the position of the moving body by rotationally scanning a light beam. Are installed at different positions apart from each other and reflect the light in the direction of the incident light, and two light beam generating means provided at different positions on the moving body to generate a light beam. And two light beam scanning means for rotating and scanning each of the light beams, two light receiving means for receiving the reflected light from each of the light reflecting means, and a light receiving output of each of the light receiving means. An opening angle detecting means for detecting an opening angle between a predetermined direction in each of the light beam generating means and the two light reflecting means;
It is characterized in that it is provided with a calculating means for calculating the position of the light beam generating means based on the position information of one light reflecting means and the opening angle detected by the opening angle detecting means.

In the position detecting device according to the second aspect of the present invention, the calculating means calculates the moving direction of the moving body based on the calculated positions of the two light beam generating means.

In the position detecting device according to the third aspect of the present invention, the two light reflecting means are fixed to a stationary position, and the computing means computes a position based on the stationary position.

In the position detecting device according to the fourth aspect of the present invention, the two light reflecting means are installed at different positions on a moving body different from the moving body, and the calculating means is provided for the moving body. It is characterized in that the relative position is calculated.

A position detecting device according to a fifth aspect of the present invention is a position detecting device for a moving body, which detects the position of the moving body by rotationally scanning a light beam, and is installed at each different position on the moving body. Two light reflecting means for reflecting light in the incident light direction, and the light moving means are installed at different positions apart from the moving body.
Two light beam generating means for generating a light beam, two light beam scanning means for rotationally scanning each of the light beams, and two light receiving means for receiving the reflected light from each of the light reflecting means, Based on the received light output of each of the light receiving means, an opening angle detecting means for detecting an opening angle between a predetermined direction in each of the light beam generating means and the two light reflecting means, and the two light beam generating means. It is characterized in that it further comprises a calculating means for calculating the positions of the two light reflecting means based on the position information and the opening angle detected by the opening angle detecting means.

[0015]

In the position detecting device according to the first to third aspects of the present invention, two light beam generating means are provided on the moving body, and the light beams are rotated and scanned, respectively, and are provided at a position apart from the moving body. By receiving the reflected light from each of the two light-reflecting means, the opening angle between the predetermined direction and the two light-reflecting means in each of the light-beam generating means is detected. Next, the position of the light beam generating means is calculated based on the detected opening angle and the position information of the two light reflecting means, and the position and moving direction of the moving body are obtained. Mobile V
Position, shown in FIG. 2, for example, in the xy rectangular coordinate system took east-west direction on the x-axis a north-south direction to the y-axis, the light beam generating means W _1, W ₂ of the midpoint W coordinates (x _0, y ₀ ) can be obtained and represented. Further, the moving direction of the moving body V is obtained as an angle θ _xw from the x axis.

FIG. 3 shows an XY coordinate system in which the light beam generating means W ₁ and W ₂ are on the horizontal axis, and the center point W thereof is the origin. The position detecting device has a reference direction (X axis) of the rotational scanning of the light beam centered on the light beam generating means W ₁ and the light reflecting means P ₁ (A ₁ , B ₁ ), P ₂ (A ₂ , B). ₂ ) centering on the opening angles A ₁₁ , A ₁₂ and the light beam generating means W ₂ .
The reference direction (X axis) of the rotational scanning of the light beam and the light reflecting means P
The opening angles A ₂₁ and A ₂₂ with respect to ₁ and P ₂ are detected, and the following (3)
From equations (4), (7), (8), and (12), (A ₁ , B ₁ ),
(A ₂ , B ₂ ) and the relative azimuth θ _P of P ₁ P ₂ with respect to W ₁ W ₂ are obtained.

A ₁ = Dsin (A ₂₂ + A ₁₂ ) / sin (A ₂₂ −A ₁₂ ) (3) B ₁ = −2Dsin A ₂₂ sinA ₁₂ / sin (A ₂₂ −A ₁₂ ) (4) A ₂ = Dsin ( A ₂₁ + A ₁₁ ) / sin (A ₂₁ −A ₁₁ ) (7) B ₂ = −2D sinA ₂₁ sinA ₁₁ / sin (A ₂₁ −A ₁₁ ) (8) θ _P = tan ⁻¹ {(B ₂ −B _{1 ) / (a 2 -A 1)} } (12) where, D = bar W ₁ W _2/2 (bar W ₁ W ₂ represents the length between the W _1, W _2. forth.)

Next, coordinate conversion is performed from FIG.
P in the standard₁, P₂Coordinates (a ₁, B₁),
(A₂, B₂) From equations (13) to (16), W₁W₂
Moving direction θ_xwAnd W₁, W₂Coordinates of the midpoint W of (x₀, Y
₀) And ask. θ_xp= Tan^-1{(B₂-B₁) / (A₂-A₁)} (13) θ_xw= Θ_xp−θ_P (14) x₀= A₁-A₁cos θ_xw+ B₁sin θ_xw (15) y₀= B₁-B₁cos θ_xw-A₁sin θ_xw (16)

In the position detecting device according to the fourth aspect of the invention, FIG.
In (a), the light reflection means P₁, P ₂But with the moving body V
Is provided on the side wall of another moving body,
Of the light reflection means P₁, P₂Relative position of the moving body provided with
Position is detected. In this case, for example, the above-mentioned first to third inventions
(3) (4) (7) (8) in the position detection device according to
Only the equation (12) is calculated.

The position detecting device according to the fifth invention is shown in FIG.
In (a), the light reflection means P₁, P₂And light beam generation
Means W₁, W₂And have been replaced. This place
In the case, in the position detecting device according to the first to third inventions,
Light beam generating means W₁, W₂And position information of the midpoint W
(X₁, Y₁), (X₂, Y₂), (X₀, Y ₀) Is set
Light reflection provided on the side wall of the moving body as defined
Means P₁, P₂And the position information of the middle point P (a₁, B₁),
(A₂, B₂), (A₀, B₀) And either
Represent the position of the moving body. Also, the moving direction of the moving body
Is the angle θ from the x-axis_xp= Tan^-1{(B₂-B₁) /
(A₂-A₁)} May be used.

[0021]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings showing its embodiments. FIG. 1A shows the first to third aspects of the present invention.
FIG. 1 is a layout view showing a layout of a first embodiment of a position detection device according to the invention, and FIG. 1 (b) is a side view thereof. This position detecting device is installed at each different position of the wall 30 apart from the moving body V, and has two light reflecting means P for reflecting light in the incident light direction.
₁ and P ₂ and two light beam generating means W ₁ and W ₂ which are provided at the lower part of the side wall of the moving body V, for example, at different positions at the feet of a person, and which generate a light beam. The light reflecting means P ₁ and P ₂ and the light beam generating means W ₁ and W ₂ are positioned so that they have substantially the same height. Also, the light reflection means P
₁ and P ₂ are required to have an optical property of reflecting the incident light in the direction of the incident light. For example, such optical properties can be obtained by combining a plurality of tetrahedral prisms. This is called a corner cube or reflection sheet and is commercially available.

The light beam generating means W ₁ and W ₂ respectively include a light beam scanning means for rotationally scanning the light beam, and a light receiving means for receiving the reflected light from each of the light reflecting means P ₁ and P ₂ . Based on the received light output of each of the light receiving means,
It is integrated with the opening angle detecting means for detecting the opening angle of the light beam generating means W _1, 2 one light reflecting means at each of W ₂ P _1, P _2. In addition, the two light reflection means P ₁ ,
The position information of P ₂ is set, and a calculating unit 31 that calculates the position of the moving body V based on the position information and the opening angle detected by the opening angle detecting unit is provided in the moving body V.

2 and 3 show such a position detecting device.
The principle diagram of is shown. In this principle diagram, finally obtained
The thing is the position and moving direction of the moving body V in the xy coordinate system.
And. The position of the moving body V is determined by the light beam generating means W.₁,
W₂, For example, taking the north direction as the y-axis and the east direction as the x-axis
xy Cartesian coordinate system coordinates (x₁, Y₁), (X₂, Y₂)
Required in connection with. The moving direction of the moving body V is
P in the xy coordinate system ₁P₂Azimuth θ_xpAnd the moving body
Moving direction and P₁P₂Relative azimuth θ_PDifference with_xw= Θ_xp−θ
_PIs required.

Two light beams are rotationally scanned from the moving body V, but the scanning angle is 180 ° at maximum because the light beam generating means W ₁ and W ₂ are provided on the side surface of the moving body V. The light reflecting means P ₁ and P ₂ receive the light incident from the light beam generating means W ₁ and W ₂ in the incident direction, that is,
It reflects in the direction of the light beam generating means W ₁ , W ₂ .

Therefore, the light beam generating means W ₁ and W ₂ receive the light beams reflected from the light reflecting means P ₁ and P ₂ , and measure the projection direction of the light beams at that time to obtain the light beams. Centering on the beam generating means W ₁ and centering on the light beam generating means W ₂ and the divergence angles A ₁₁ , A ₁₂ between the reference direction of the rotational scanning of the light beam and the light reflecting means P ₁ , P ₂ .
Reference direction of rotary scanning of light beam and light reflecting means P ₁ , P ₂
It is possible to know the opening angles A ₂₁ and A _{22 between} and.

The opening angles A ₁₁ , A detected by the opening angle detecting means
_The calculation means 31 calculates the coordinates (x ₀ , y ₀ ) of the midpoint W of the beam generation means W ₁ , W ₂ in the xy orthogonal coordinate system from ₁₂ and the divergence angles A ₂₁ , A ₂₂ . Position information of the light reflecting means P ₁ and P ₂ is preset in the computing means 31. still,
The moving direction θ _xw of the moving body V is, as described above, the direction θ _xp of P ₁ P ₂ in the xy coordinate system, and the moving direction and P of the moving body.
It can be obtained by knowing the relative azimuth θ _P of ₁ P ₂ .

The calculation of the position and moving direction of the moving body V will be described in detail below. The following information is set in the calculation means of the mobile unit V. (A ₁ , b ₁ ); coordinates of light reflecting means P ₁ (a ₂ , b ₂ ); coordinates of light reflecting means P ₂ θ _xp ; azimuth of _two light reflecting means P ₁ , P ₂ (= tan ⁻¹
{(B ₂ −b ₁ ) / (a ₂ −a ₁ )}) 2D; Distance between light beam generating means W ₁ and light beam generating means W ₂

In FIG. 3, first, the light beam generating means W
_1, by the scanning of the light beam from the W _2, the light beam of the side surface of the moving body V in the generating means W ₁ forward of the light reflecting means P _1, P ₂ for (the reference direction of rotation scanning of the light beam), respectively Aperture angles A ₁₂ , A ₁₁ and light beam generating means W ₂
The light reflecting means P for the front direction of the side surface of the moving body V in
The respective opening angles A ₂₂ , A _{21 of 1} and P ₂ are measured. Next, △ W by sines in _{1 W 2 P 1, 2D /} sin (A 22 -A 12) = bar _{W 2 P 1 / sinA 12 (} 1) (1) Bar W ₂ P ₁ = 2DsinA ₁₂ from the equation _{/ sin (A 22 -A 12)} (2)

Therefore, A ₁ = D-bar W ₂ P ₁ .cos (180 ° -A ₂₂ ) = D- {2DsinA ₁₂ / sin (A ₂₂ -A ₁₂ )} ・ (-cosA ₂₂ ) = {Dsin ( _{A 22 -A 12) + 2DsinA 12} cosA 22} / sin (A 22 -A 12) = (DsinA 22 cosA 12 -DsinA 12 cosA 22 + 2DsinA 12 cosA 22) / sin (A 22 -A 12) = D (sinA _{22 cosA 12 + sinA 12 cosA 22} ) / sin (A 22 -A 12) = Dsin (A 22 + A 12) / sin (A 22 -A 12) (3)

B ₁ = −bar W ₂ P ₁ · sin (180 ° −A ₂₂ ) = {− 2DsinA ₁₂ / sin (A ₂₂ −A ₁₂ )} · sinA ₂₂ = −2DsinA ₂₂ sinA ₁₂ / sin (A ₂₂ -A ₁₂ ) (4)

Similarly, according to the sine theorem in ΔW ₁ W ₂ P ₂ , 2D / sin (A ₂₁ −A ₁₁ ) = bar W ₁ P ₂ / sin (180 ° −A ₂₁ ) (5) (5) Than bar W ₁ P ₂ = 2D sinA ₂₁ / sin (A ₂₁ -A ₁₁ ) (6)

Therefore, A ₂ = −D + bar W ₁ P ₂ · cosA ₁₁ = −D + {2DsinA ₂₁ / sin (A ₂₁ −A ₁₁ )} · cosA ₁₁ = {− Dsin (A ₂₁ −A ₁₁ ) + 2DsinA _{21 cosA 11} / sin (A 21} -A 11) = (- DsinA 21 cosA 11 + DsinA 11 cosA 21 + 2DsinA 21 cosA 11) / sin (A 21 -A 11) = D (sinA 11 cosA 21 + sinA 21 cosA 11) _{/ sin (A 21 -A 11)} = Dsin (A 21 + A 11) / sin (A 21 -A 11) (7)

B ₂ = −bar W ₁ P ₂ · sinA ₁₁ = {− 2DsinA ₂₁ / sin (A ₂₁ −A ₁₁ )} · sinA ₁₁ = −2DsinA ₂₁ sinA ₁₁ / sin (A ₂₁ −A ₁₁ ) (8 ) Therefore, A ₀ = (A ₁ + A ₂ ) / 2 (9) B ₀ = (B ₁ + B ₂ ) / 2 (10) Bar P ₁ P ₂ = {(A ₂ −A ₁ ) ² + (B ₂ −B ₁ ) ² } ^1/2 (11) θ _P = tan ⁻¹ {(B ₂ −B ₁ ) / (A ₂ −A ₁ )} (12) (where A ₁ , B ₁ , A ₂ , B ₂ is (3), (4),
(As shown in equations (7) and (8))

Further, the coordinates of W, P ₁ and P _{2 in} the xy coordinate system are (x ₀ , y ₀ ), (a ₁ , b ₁ ), (a ₂ , b ₂ ).
Then, the azimuth of P ₁ P ₂ is θ _xp = tan ⁻¹ {(b ₂ −b ₁ ) / (a ₂ −a ₁ )} (13) Further, if the azimuth of W ₁ W ₂ is θ _xw from Figure _{2 θ xw = θ xp -θ P} (14) x 0 = a 1 + P 1 E = a 1 + P 1 Fcosθ xw = a 1 + (P 1 D-WDtanθ xw) cosθ xw = a 1 + (- A ₁ + B ₁ tan θ _xw ) cos θ _xw = a ₁ −A ₁ cos θ _xw + B ₁ sin θ _xw (15)

[0035] _{y 0 = b 1 + P 1} G = b 1 + P 1 Hcosθ xw = b 1 + (P 1 I + WItanθ xw) cosθ xw = b 1 + (- B 1 -A 1 tanθ xw) cosθ xw = b 1 - B ₁ cos θ _xw −A ₁ sin θ _xw (16)

From the above, the light beam generating means W is rotated and rotated by the light beam generating means W ₁ and W _2.
1 , the respective opening angles A ₁₂ , A ₁₁ of the light reflecting means P ₁ , P ₂ with respect to the front direction of the side wall of the moving body V, and the light reflecting means for the front direction of the side wall of the moving body V in the light beam generating means W ₂ . P _1, knowing the the respective opening angle a _22, a ₂₁ of P _2, the position information (a ₁ of the light reflecting means P _1,
b ₁ ), the position information (a ₂ , b ₂ ) of the light reflecting means P ₂ , and the distance 2D between the light beam generating means W _{1 and the} light beam generating means W ₂ are known, and therefore the light beam generating means W ₁ , W ₂ midpoint (x _0, y ₀₎ and Motomari azimuth theta _xw mobile V, will be apparent positional information of the movable body V.

FIG. 4A shows an example of a light beam scanning means, a light receiving means and an aperture angle detecting means which are integrated with the _two light beam generating means W ₁ and W ₂ provided on the moving body V, respectively. It is an external view. This light beam generating means W ₁ ,
W ₂ , the light beam scanning means, the light receiving means, and the aperture angle detecting means are provided with a rotating shaft 36 at the center of the upper plate (not shown) of the cylinder 34.
Is stuck. The rotary shaft 36 is rotated by a drive unit 35 (light beam scanning means) provided on the upper portion of the cylinder 34, and the cylinder 34 is rotated according to the rotation of the rotary shaft 36.
The drive unit 35 is fixed to the side wall of the moving body V. As will be described later, a semiconductor laser is provided inside the cylinder 34, and the laser light is emitted from the hole 3 provided on the side surface of the cylinder 34.
It is projected to the outside of the cylinder 34 through 7. Light receiving portions (for example, photodiodes, phototransistors, etc.) 38, 39 for receiving the reflected light from the light reflecting means P ₁ , P ₂ are provided on both sides of the hole 37.

A shaft (not shown) is fixed to the central portion of the lower plate (not shown) of the cylinder 34, and the shaft rotates in response to the rotation of the cylinder 34. Further, this shaft is connected to a rotary encoder 40 provided below the cylinder 34,
Is transmitted to the rotary encoder 40. The rotary encoder 40 is fixed to the side wall of the moving body V, and the rotation transmitted from the cylinder 34 causes the rotation angle of the cylinder 34,
That is, the projection angle of the laser light is detected. As the rotary encoder 34, an absolute type is used,
The projection angle of the laser beam with respect to the reference direction is detected. This reference direction is set, for example, in the front direction of the side wall of the moving body V on which the light beam generating means W ₁ and W ₂ are provided.

FIG. 4B is an explanatory view for explaining the optical system of the light beam generating means, the light beam scanning means, the light receiving means and the aperture angle detecting means shown in FIG. 4A. In the figure, a semiconductor laser 41 is provided on the inner peripheral wall of the cylinder 34. The laser light emitted from the semiconductor laser 41 is diffused by the lens 42 and further collimated by the lens 43. The parallel light is projected to the outside of the cylinder 34 through the hole 37 formed in the cylinder 34.

The light beam generating means W _{1 having} the above structure,
With respect to W ₂ , the light beam scanning means, the light receiving means, and the opening angle detecting means, when the rotation shaft 36 rotates, the cylinder 34 and the optical system inside the cylinder 34 rotate, and the laser light is scanned. Further, as the cylinder 34 rotates, the rotary encoder 40 detects the rotation angle thereof and detects the projection angle of the laser beam with respect to the moving direction of the moving body V.

FIG. 5 is a block diagram showing a configuration example of the calculating means 31 of such a position detecting device. In this arithmetic means 31, the output of the OR gate 13 to which the light receiving outputs of the light beam generating means W ₁ and W ₂ from the light receiving portion 38 and the light receiving portion 39 are given to the respective input terminals, the binary counter 32 and the AND gate. 15 to one of the input terminals. The angle detection output of the rotary encoder 40 is applied to the other input terminal of the AND gate 15. That is, the output of the rotary encoder 40 is captured by the OR output of the light receiving unit 38 and the light receiving unit 39.

The output of the AND gate 15 is the register 1
6,17. The positive and negative logic outputs of the binary counter 32 are given to these registers 16 and 17. These positive and negative logic outputs Q and Q bar are supplied with the positive logic output Q to the register 16 and the negative logic output Q bar to the register 17, for example, and act as write control signals for the registers 16 and 17. That is, the binary counter 32
Register 16 and register 17 each time
It becomes writable in the order of → register 17 → register 16 → register 17.

The outputs of the registers 16 and 17 are the CPU 3
3, the memory 20 is connected to the CPU 33. The memory 20 stores the position information of the light reflecting means P ₁ and P ₂ and a calculation program for calculating the position and moving direction of the moving body V, and the CPU 33 is given from the registers 16 and 17. Based on the information, the position and moving direction of the moving body V are calculated. The CPU 33 has
The utilization device 21 is connected. The utilization device 21 is a CP
It is a device for utilizing the position information or the moving direction of the moving body V obtained by U33, and includes, for example, an automatic piloting device and a display device.

FIG. 6 is a flow chart showing the calculation procedure of the calculation means having such a configuration. In this calculation means, the rotation shaft 36 (FIG. 4A) is rotated by the drive unit 35,
When the laser beam is scanned, from one rotary encoder 40, the respective opening angles A ₁₂ , A of the light reflecting means P ₁ , P ₂ with respect to the front direction of the side surface of the moving body V in the light beam generating means W ₁ . _From the other rotary encoder 40, the respective opening angles A ₂₂ and A ₂₁ of the light reflecting means P ₁ and P ₂ with respect to the front direction of the side surface of the moving body V in the light beam generating means W ₂ are input. It

[0045] Here, the laser beam emitted from the light beam generating means W ₁ is an incident to the light reflecting means P _2, the light reflecting means P ₂ reflects the incident light toward the light beam generating means W ₁ . This reflected light is detected by the light receiving unit 38 or the light receiving unit 39, and the output of the OR gate 13 becomes H level.
Therefore, the binary counter 32 is incremented and, for example, the register 16 becomes writable. Further, the AND gate 15 is opened, and the angle information from the rotary encoder 40 is stored in the register 16. At this time, register 16
The angle information taken in is the opening angle A ₁₁ of the light reflecting means P ₂ with respect to the front direction of the side surface of the moving body V in the light beam generating means W ₁ .

Further, when the laser beam is scanned and the laser beam is incident on the light reflecting means P ₁ , the binary counter 32 is incremented again and the register 17 becomes writable. Therefore, the register 17 stores the angle information from the rotary encoder 40. The angle information at this time is the opening angle A ₁₂ of the light reflecting means P ₁ with respect to the front direction of the side surface of the moving body V in the light beam generating means W ₁ .

[0047] Similarly, when the laser beam emitted from the light beam generating means W ₂ is an incident to the light reflecting means P _2, the light reflecting means P ₂ reflects the incident light toward the light beam generating means W ₂ . This reflected light is detected by the light receiving unit 38 or the light receiving unit 39, and the output of the OR gate 13 becomes H level.
Therefore, the binary counter 32 is incremented and, for example, the register 16 becomes writable. Further, the AND gate 15 is opened, and the angle information from the rotary encoder 40 is stored in the register 16. At this time, register 16
The angle information taken in is the opening angle A ₂₁ of the light reflecting means P ₂ with respect to the front direction of the side surface of the moving body V in the light beam generating means W ₂ .

Further, when the laser beam is scanned and the laser beam is incident on the light reflecting means P ₁ , the binary counter 32 is incremented again and the register 17 becomes writable. Therefore, the register 17 stores the angle information from the rotary encoder 40. The angle information at this time is the opening angle A ₂₂ of the light reflecting means P ₁ with respect to the front direction of the side surface of the moving body V in the light beam generating means W ₂ .

The CPU 33 controls the opening angles A ₁₁ , A ₁₂ , A ₂₁ ,
Each time A ₂₂ is stored in each register, the opening angles A ₁₁ , A ₁₂ , A ₂₁ , A ₂₂ are read from each register (S10), and P ₁ for W ₁ W _{2 is} calculated by the above equation.
The relative position and azimuth of P ₂ are calculated (S12), and the position information (x ₀ , y ₀ ) of the midpoint W of the light beam generating means W ₁ , W ₂ is calculated.
And the moving direction θ _xw are calculated and obtained (S14).

The position detecting device according to the fourth invention is shown in FIG.
In (a), the light reflecting means P ₁ and P ₂ are provided on the side wall of a moving body different from the moving body V. In this case, the moving body V and the light reflecting means P ₁ and P 2 are provided. The relative position of the moving body provided with ₂ can be measured. In this case, for example, in the position detecting device according to the first to third inventions described above, (3),
Expressions (4), (7), (8) and (12) may be calculated. Other configurations and operations are the same as those of the first to third embodiments described above.
Since it is the same as the position detecting device according to the invention, the description thereof is omitted.

The position detecting device according to the fifth invention is shown in FIG.
In (a), the light reflecting means P ₁ , P ₂ and the light beam generating means W ₁ , W ₂ are replaced with each other. In this case, in the position detecting device according to the above-mentioned first to third inventions,
Position information (x ₁ , y ₁ ), (x ₂ , y ₂ ), (x ₀ , y ₀ ) of the light beam generating means W ₁ and W ₂ and the midpoint W is set, and is set on the side wall of the moving body. Light reflection means P provided
Position information (a ₁ , b ₁ ) of ₁ , P ₂ and the midpoint P, (a ₂ ,
b ₂ ), (a ₀ , b ₀ ), and the position of the moving body may be represented by one of them. Further, the moving direction of the moving body is an angle θ _P = tan ⁻¹ {(b ₂ −b ₁ ) /
(A ₂ −a ₁ )}. Other configurations and operations are the same as those of the position detecting device according to the first to third aspects of the invention described above, and thus description thereof will be omitted.

In the above embodiment, the light reflecting means is described as a point. However, by using a tape having a certain width, both ends of the light reflecting means can be detected by the on / off change of the light receiving means, and the light reflecting means can be used. Means P ₁ , P ₂ are possible.

[0053]

According to the position detecting device of the first to fifth aspects of the present invention, the number of light reflecting means can be reduced from three or more to two or more, so that the installation cost and the number of steps are reduced by 33%. To do. Further, since it is not necessary to scan the light beam all around, it is only necessary to lay the light reflecting means on one wall or the like as seen from the moving body, which facilitates the laying. Also, by using the tape having the above-mentioned constant width as the light reflecting means,
Since the position can be detected with one sheet of tape, the installation becomes easier.

Further, since the mounting place is not limited to the upper part of the moving body and the height of the light beam can be lowered, there are no restrictions on the shape of the moving body or the transfer of the transported object. In addition, it is possible to prevent the light beam from crossing around the chest and eyes of a person, eliminating psychological problems, which is particularly effective for a small moving body. Further, since the distance between the light reflecting means can be easily known from the equation (11), it is easy to recognize the moving body insertion position by changing the intervals of the plurality of light reflecting means in advance.

[Brief description of drawings]

FIG. 1 is a position detecting device according to the first to third aspects of the present invention.
It is a layout showing the layout of the example.

FIG. 2 is a principle diagram for explaining the principle of position detection by the position detection device shown in FIG.

FIG. 3 is a principle diagram for explaining the principle of position detection of the position detection device shown in FIG.

4 is an external view showing an example of a light beam scanning means, a light receiving means, and an aperture angle detecting means integrated with a light beam generating means of the position detecting device shown in FIG. 1 and an optical system thereof. FIG.

5 is a block diagram showing a configuration example of a calculation unit of the position detection device shown in FIG.

FIG. 6 is a flowchart showing the operation of the calculating means shown in FIG.

FIG. 7 is a principle diagram for explaining the principle of position detection of an example of a conventional position detection device.

[Explanation of symbols]

13 OR gate 15 AND gate 16, 17 register 30 wall 31 computing means 32 binary counter 33 CPU 34 cylinder 36 rotating shaft 37 hole 38, 39 light receiving portion 40 rotary encoder 41 semiconductor laser 42, 43 lens P ₁ , P ₂ light reflecting means Midpoint of P P ₁ P ₂ V Moving object W ₁ , W ₂ Light beam generating means W W ₁ W ₂ Midpoint

Claims (5)

[Claims] 1. A position detecting device for a moving body, which detects the position of the moving body by rotationally scanning a light beam, wherein the moving body position detecting device is installed at different positions apart from the moving body, and emits light in the incident light direction. Two light reflecting means for reflecting, two light beam generating means for generating a light beam provided at different positions on the moving body, and two light beam scanning for rotating and scanning each of the light beams Means, and two light receiving means for receiving the reflected light from each of the light reflecting means, and a predetermined direction in each of the light beam generating means and the two light reflecting means based on the light receiving output of each of the light receiving means. A position of the light beam generating means is calculated based on an opening angle detecting means for detecting an opening angle with the means, position information of the two light reflecting means and an opening angle detected by the opening angle detecting means. Device for detecting a position of a moving body; and a calculation unit. 2. The position detecting device for a moving body according to claim 1, wherein said calculating means calculates a moving direction of said moving body based on the calculated position information of said two light beam generating means. 3. The two light reflecting means are fixed to an immovable position, and the computing means computes the position of the moving body based on position information of the immobile position.
The position detecting device for the moving body described. 4. The two light reflecting means are installed at different positions on a moving body different from the moving body, and the calculating means calculates a relative position of the different moving body. Alternatively, the position detecting device for a moving body according to 2 is provided. 5. A moving body position detecting device for detecting the position of a moving body by rotationally scanning a light beam, the device being installed at each different position on the moving body and reflecting light in an incident light direction. Two light reflection means, two light beam generation means for generating a light beam, which are installed at different positions apart from the moving body, and two light beam scanning for rotating and scanning each of the light beams. Means, and two light receiving means for receiving the reflected light from each of the light reflecting means, and a predetermined direction in each of the light beam generating means and the two light reflecting means based on the light receiving output of each of the light receiving means. The position of the two light reflecting means is determined based on the opening angle detecting means for detecting the opening angle with the means, and the position information of the two light beam generating means and the opening angle detected by the opening angle detecting means. Performance Device for detecting a position of a moving body comprising: a calculating means for.