JPS5868611A - Attitude detecting device - Google Patents
Attitude detecting deviceInfo
- Publication number
- JPS5868611A JPS5868611A JP16774381A JP16774381A JPS5868611A JP S5868611 A JPS5868611 A JP S5868611A JP 16774381 A JP16774381 A JP 16774381A JP 16774381 A JP16774381 A JP 16774381A JP S5868611 A JPS5868611 A JP S5868611A
- Authority
- JP
- Japan
- Prior art keywords
- light
- transparent
- receiving plate
- sensor
- light receiving
- 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
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は、光透過性を有する透明体センサを用いた作業
機械等の姿勢検出装置に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a posture detection device for a working machine or the like using a transparent body sensor having light transmittance.
従来、作業機械等の姿勢検出［ｉｉハーフミラ−や特殊
光学部品等から構成されている光計６＆１１装置が一般
的に用いられていた。Conventionally, an optical meter 6 & 11 device consisting of a half mirror, special optical parts, etc. has been generally used to detect the posture of working machines, etc.
第１図は、上記従来の姿勢検出装置である光計測装置の
一例を示すもので、まず、入射光ＢＩ’にハーフミラ−
１により反射光ＢＲおよび透過光ＢＴに分割し、反射光
ＢＲは位置検出センサ２に導き、透過光ＢＴＦｉ凸レン
ズ３ｔ−介して角度センサ４に４いて＾る。すなわち、
位置検出センサ２６Ｃよる反射光ＢＲの受光位置から入
射光ＢＩの入射位置を検出し、角度センサ４による透過
光ＢＴの９光位置から入射光ＢＩの入射角度を検出して
いる。FIG. 1 shows an example of an optical measurement device that is the conventional attitude detection device described above.
1, the reflected light BR is guided to the position detection sensor 2, and the transmitted light BTFi is transmitted to the angle sensor 4 via the convex lens 3t. That is,
The incident position of the incident light BI is detected from the receiving position of the reflected light BR by the position detection sensor 26C, and the incident angle of the incident light BI is detected from the nine light positions of the transmitted light BT by the angle sensor 4.
このような従来の装置は、ハーフミラ−等を用いるもの
であるため装置自体も大きくなり、構造も複雑になった
。さらに、光学系の要求Ｎ度が高いことから、従来の姿
勢検出装置の製造には高度な技術が要求され、さらには
価格も高くなった。Since such a conventional device uses a half mirror or the like, the device itself is large and has a complicated structure. Furthermore, since the required N degree of the optical system is high, advanced technology is required to manufacture the conventional attitude detection device, and furthermore, the price has increased.
本発明は、上述の点に＠みてなされたもので、透明体セ
ンサを用い、構造が簡単でかつ取扱りも容易な姿勢検出
装置を提供するものである。The present invention has been made in view of the above-mentioned points, and provides an attitude detection device that uses a transparent body sensor, has a simple structure, and is easy to handle.
以下、本発明（つめて添附図面を参照し、詳細に説明す
る。Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.
まず、本発明に用いられる透明体センナについて説明す
る。透明体センサ１０け第２図に示すように２つの透明
体セン？１０１，１０ｂからなシ、それぞれの透明体セ
ンナ１０ｍ、１０ｂＦｉ透明ガラス基板１１面上にアル
ミＩＩＩＬ極からなる電極１２を蒸着技術によって生成
し、その上に、薄膜化されたアモルファスシリコン太陽
電池からなる受光ルミ電極１２および受光素子１３を十
分薄く形成ｔしｔｒ、透明体センｔｌｏ ａ、１０ ｂ
（７）光透４度を十分高いものにすることができる。こ
の透明体センサ１０ａ、１ｇｂＦｉ、それぞれ２本ＩＦ
Ａの線状アルミ電極１２ｔ−図のように横列および縦列
に複数組、さらに、この各々の組の線状アルミ電極１２
上に所定ピッチで複数鋼ずつ受光素子１３が配設され、
Ｘ軸用検出用センサおよびＹ軸用検出センサとして用い
られる。このような透明体センサ１０は、ｆｌえは第２
図に示されるように、計測対象光である入射光ＢＩがこ
の透ｋＪＡ体センサ１゜Ｋ照射された場合、Ｘ軸方向の
位置検出は透明体センナ１０ｍの受光素子１３により＃
′を測され、Ｙ軸方向の位置検出は透明体センサ１０ｂ
の受光素子により計測される。First, the transparent senna used in the present invention will be explained. 10 transparent body sensors Two transparent body sensors as shown in Figure 2? From 101 and 10b, an electrode 12 made of an aluminum III pole is produced on the 11 surface of a 10m transparent glass substrate 10m and a 10b Fi transparent glass substrate by vapor deposition technology, and on top of that, an electrode 12 made of a thin film of amorphous silicon solar cell is formed. The light-receiving luminous electrode 12 and the light-receiving element 13 are formed sufficiently thin, and the transparent body center a, 10 b
(7) The light transmittance of 4 degrees can be made sufficiently high. These transparent body sensors 10a and 1gbFi each have two IFs.
Linear aluminum electrodes 12t in A - multiple sets in horizontal and vertical columns as shown in the figure, and each set of linear aluminum electrodes 12
A plurality of light receiving elements 13 are arranged on the top at a predetermined pitch,
It is used as an X-axis detection sensor and a Y-axis detection sensor. Such a transparent body sensor 10 has a second flap.
As shown in the figure, when the incident light BI, which is the light to be measured, is irradiated to this transparent kJA body sensor 1°K, the position in the X-axis direction is detected by the light receiving element 13 of the transparent body sensor 10m.
', and position detection in the Y-axis direction is performed by transparent body sensor 10b.
It is measured by a light receiving element.
第３図は、本発明の一実施力を示したものである。この
実施力では、上記の透明体センサ１０と、この透明体セ
ンサ１０と機能、構造および大きさが全く同一の透明体
センサ１０’を具えておシ、Ｃれら透明体センサ１０．
１０’を所定の距離を隔てて平行に設置し、それぞれの
透明体センサ１Ｏ１１０の出力を処理することにより計
測対象光の入射位置および入射角度を計測している。FIG. 3 shows one implementation of the present invention. In this embodiment, the above-mentioned transparent body sensor 10 and a transparent body sensor 10' having exactly the same function, structure and size as this transparent body sensor 10 are provided.
10' are installed in parallel at a predetermined distance apart, and the incident position and incident angle of the measurement target light are measured by processing the outputs of the respective transparent body sensors 1O110.
第３図において、透明体センサ１０ａ１１０ｍ’はそれ
ぞれの設置場所におけるＸ軸座標検出用センサであり、
これらの透明体センサ１０龜、１０’ａからの出力に基
づく検出Ｘ座標をそれぞれＸｆｓｘｒとする。また、透
明体センサ１０ｂ、１０’ｂはそれぞれの設置場所にお
けるＹ軸検出用センサでめシ、これらの透明体セ／す１
０ｂ、１０’ｂの出力に基づく検出ｙ座標をそれぞれＶ
ｆＳＹｒとする。ま友、透明体センサ１０ａ％ １０’
ａ間の距離ｒｉＬｘであり、透明体センサ１０ｂ、１０
’ｂ間の距離はＡｙでおる。ここで、計測対象光である
入射光ＢＩは、まず透明体センサ１０￥ｒ透過すると同
時にこの透明体セフ’ｔｌＯに１９入射位置が２次元的
に計測された後、透明体センサ１０’を透過すると同時
にこの透明体センサ１０′により入射位置か２次元的に
計測される。この時の透明体センサ１０ｍ、１０ｂ％１
０’ ａ、１０’ ｂの出力に基づく検出座標をそれぞ
れｘｙｌ、ｙＬ３、Ｘｒｌ 。In FIG. 3, transparent body sensors 10a and 110m' are sensors for detecting the X-axis coordinate at each installation location,
The detected X coordinates based on the outputs from these transparent body sensors 10 and 10'a are respectively designated as Xfsxr. In addition, the transparent body sensors 10b and 10'b are Y-axis detection sensors at their respective installation locations.
The detected y-coordinates based on the outputs of 0b and 10'b are respectively V
Let it be fSYr. Mayu, transparent body sensor 10a% 10'
The distance between the transparent body sensors 10b and 10 is riLx.
The distance between 'b is Ay. Here, the incident light BI, which is the light to be measured, first passes through the transparent body sensor 10\r, and at the same time, the incident position on this transparent body Sef'tlO is measured two-dimensionally, and then passes through the transparent body sensor 10'. At the same time, the transparent body sensor 10' measures the incident position two-dimensionally. Transparent body sensor at this time 10m, 10b%1
The detected coordinates based on the outputs of 0'a and 10'b are xyl, yL3, and Xrl, respectively.
ｙｆ、とする、また、この時、
ｔ工＝１．＝１゜
とすれば計−ｊ対象光のＸ方向入射角度”％７方向入射
角度θｙおよび入射位置Ｐ（ｘＸｙ）ｔｉ、Ｙ軸方向入
射角度 θ、＝（ｙＬ ｙｒｓ）・・・■０
入射位置 Ｐ（ｘｗ ｙ）＝（ｘＬ、ｙｆｌ
）・・・■
として算出される。また、上式■、■のＸ軸方向入射角
度θｘ、Ｙ軸方向入射角度θｙは、加算器や掛算器等を
用いて構成される演算処理回路により、簡単に求めるよ
うにすることができる。yf, and in this case, t = 1. = 1°, then the total -j is the incident angle in the X direction of the target light, %7 the incident angle θy and the incident position P(xXy)ti, the incident angle in the Y axis direction θ, = (yL yrs)...■0 Incidence Position P(xw y) = (xL, yfl
)...■ Calculated as. Further, the incident angle θx in the X-axis direction and the incident angle θy in the Y-axis direction in the above equations (2) and (2) can be easily determined by an arithmetic processing circuit configured using an adder, a multiplier, or the like.
なお、本実施例における透明体センサｌｏ′は従来の不
透明な位置検出センサ（不透明な受光素子により構成さ
れるセンナ）でもよい。また、本発明で用りる透明体セ
ンナとしては、上記実施例に限らず、Ｘ軸およびｙ軸の
出力検出ができるものであれば、他のどのような構成の
透明体センサでも適用できる。さらに、本発明は作業機
械等の姿勢検出以外の計測光の入射位置および入射角等
の計測を要する機器等にも適用可能である。Note that the transparent body sensor lo' in this embodiment may be a conventional opaque position detection sensor (a sensor constituted by an opaque light receiving element). Further, the transparent body sensor used in the present invention is not limited to the above-mentioned embodiment, but any other type of transparent body sensor can be used as long as it can detect outputs on the X-axis and the y-axis. Furthermore, the present invention is applicable to equipment that requires measurement of the incident position and angle of incidence of measurement light other than posture detection, such as working machines.
以上のように、本発明の姿勢検出装置は構造が非常に簡
単であシ複雑な調整もな４ため、取扱いが容易である。As described above, the attitude detection device of the present invention has a very simple structure and does not require complicated adjustments, so it is easy to handle.
また処理回路等の構成も簡単であり、光学部も少なめた
め安価となる。さらに、光学系の要求精度が厳しくなｉ
ので、設計、製造も容易である。Furthermore, the structure of the processing circuit and the like is simple, and the number of optical parts is small, making it inexpensive. Furthermore, the precision required for optical systems is becoming stricter.
Therefore, it is easy to design and manufacture.
第１図は従来の光計測方法を示す略図、第２図は本発明
の透明体センサの一構成例を示す斜視図、第３図は本発
明の姿勢検出装置を示す略図である。
１・・・ハーフミラ−１２・・・位置検出センサ、３・
・・凸レンズ、４−角度検出センサ、１０．１０Ｉ・・
・透明体センサ、１１−・・透明基板、１２・・・透明
電極、１３・−・透明受光集子。
第２図FIG. 1 is a schematic diagram showing a conventional optical measurement method, FIG. 2 is a perspective view showing a configuration example of a transparent body sensor of the present invention, and FIG. 3 is a schematic diagram showing a posture detection device of the present invention. 1... Half mirror 12... Position detection sensor, 3.
・・Convex lens, 4-angle detection sensor, 10.10I・・
- Transparent sensor, 11--Transparent substrate, 12--Transparent electrode, 13--Transparent light receiving collector. Figure 2
Claims (3)
光素子を生成させ、前記透明受光素子による受光イｇ号
を前記透明電極を介して取や出すようにした第１の受光
板と第１の受光板から所定距離離間し、第１の受光板と
平行に配設され、る第２の受光板とを具え、基準光線を
受光する第１の受光板の出力から基準光線に対する変位
を検出し、前記第１の受光板の出力および前記第１の受
光板の透過光を受光する第２受光板の出力から基準光線
に対する傾きを検出する姿勢検出装置。(1) A first light receiving plate and a first light receiving plate in which a plurality of transparent electrodes and transparent light receiving elements are formed on the surface of a transparent substrate, and light received by the transparent light receiving elements is taken out through the transparent electrodes. a second light-receiving plate arranged parallel to the first light-receiving plate at a predetermined distance from the light-receiving plate; the displacement with respect to the reference light beam is detected from the output of the first light-receiving plate that receives the reference light beam; and a posture detection device that detects an inclination with respect to a reference light beam from the output of the first light receiving plate and the output of a second light receiving plate that receives the transmitted light of the first light receiving plate.
アルミ薄膜電極であり、前記透明受光素子は薄膜化した
アモルファスシリコン太陽電池である特許請求の範囲第
α）項記載の姿勢検出装置。(2) The attitude detection device according to claim ?, wherein the transparent substrate is a glass plate 69, the transparent electrode is an aluminum thin film electrode, and the transparent light receiving element is a thin film amorphous silicon solar cell.
極および透明受光素子をＸ軸方向に配列して生成しｔＸ
Ｘ軸受版板、透明基板面上に複数の透明電極および透明
受光素子をＹ軸方向にゲタ１１シて生成したＹ軸受光板
とを重ね友ものである特許請求の範囲第α）項記載の姿
勢検出装置。(3) The first light-receiving plate is formed by arranging a plurality of transparent electrodes and transparent light-receiving elements in the X-axis direction on a transparent substrate surface.
The posture according to claim α), in which an X-axis receiving plate and a Y-axis light-receiving plate produced by laminating a plurality of transparent electrodes and transparent light-receiving elements in the Y-axis direction on a transparent substrate surface are stacked together. Detection device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16774381A JPS5868611A (en) | 1981-10-20 | 1981-10-20 | Attitude detecting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16774381A JPS5868611A (en) | 1981-10-20 | 1981-10-20 | Attitude detecting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS5868611A true JPS5868611A (en) | 1983-04-23 |
Family
ID=15855285
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP16774381A Pending JPS5868611A (en) | 1981-10-20 | 1981-10-20 | Attitude detecting device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5868611A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6126813A (en) * | 1984-07-17 | 1986-02-06 | Toto Denki Kogyo Kk | Deviation measuring instrument and measuring instrument for deviation and distance |
| JPS6326525A (en) * | 1986-07-18 | 1988-02-04 | Kubota Ltd | Direction detecting device for moving body |
| JPS63151812A (en) * | 1986-12-15 | 1988-06-24 | スペクトラ―フィジックス・レーザープレーン・インコーポレーテッド | Device and method of detecting position and azimuth of reference beam |
| JP2011208981A (en) * | 2010-03-29 | 2011-10-20 | Keijiro Yamamoto | Posture detection device |
-
1981
- 1981-10-20 JP JP16774381A patent/JPS5868611A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6126813A (en) * | 1984-07-17 | 1986-02-06 | Toto Denki Kogyo Kk | Deviation measuring instrument and measuring instrument for deviation and distance |
| JPS6326525A (en) * | 1986-07-18 | 1988-02-04 | Kubota Ltd | Direction detecting device for moving body |
| JPH0511843B2 (en) * | 1986-07-18 | 1993-02-16 | Kubota Kk | |
| JPS63151812A (en) * | 1986-12-15 | 1988-06-24 | スペクトラ―フィジックス・レーザープレーン・インコーポレーテッド | Device and method of detecting position and azimuth of reference beam |
| JPH0523688B2 (en) * | 1986-12-15 | 1993-04-05 | Supekutora Fuijitsukusu Reezaapureen Inc | |
| JP2011208981A (en) * | 2010-03-29 | 2011-10-20 | Keijiro Yamamoto | Posture detection device |
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