JPS59147204A - Position detecting method of moving body - Google Patents
Position detecting method of moving bodyInfo
- Publication number
- JPS59147204A JPS59147204A JP58022490A JP2249083A JPS59147204A JP S59147204 A JPS59147204 A JP S59147204A JP 58022490 A JP58022490 A JP 58022490A JP 2249083 A JP2249083 A JP 2249083A JP S59147204 A JPS59147204 A JP S59147204A
- Authority
- JP
- Japan
- Prior art keywords
- light
- laser beam
- receiving disk
- slit
- irradiation point
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 6
- 102100027340 Slit homolog 2 protein Human genes 0.000 abstract description 6
- 101710133576 Slit homolog 2 protein Proteins 0.000 abstract description 6
- 238000009412 basement excavation Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Optical Transform (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は光電方式で移動体の位置を検出する技術に関す
るものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a technique for detecting the position of a moving object using a photoelectric method.
移動体に設屓した受光板に固定光源からレーザ光線を照
射し、照射点の位置を光電素子を利用して求め、これに
基いて移動体の位置を検出する技術は、既に知られてい
るが、従来例（例えば、特公昭５５−７１６４号の発明
）では、照射点の位置検出に複数の光電素子を必要とし
ている。The technology of irradiating a light receiving plate installed on a moving body with a laser beam from a fixed light source, determining the position of the irradiation point using a photoelectric element, and detecting the position of the moving body based on this is already known. However, in the conventional example (for example, the invention of Japanese Patent Publication No. 55-7164), a plurality of photoelectric elements are required to detect the position of the irradiation point.
本発明は、単一の小さい光検出器のみを必要とする新規
技術の提供を目的としており、その構成上の特徴は、半
径方向にスリットを設けた受光円板を、移動体上で回転
させるとともに、これに固定光源からレーザ光線を照射
し、スリットを通った光をレンズで屈折させて受光円板
の中心軸線上に配置した光検出器に当て、該光検出器の
受光時間から求められる受光円板の中心からレーザ光線
の照射点までの距離と、受光円板の回転角度とにより、
レーザ光線の照射点の位置を求め、これに基いて移動体
の位置を検出する点にある。The present invention aims to provide a new technology that requires only a single small photodetector, the structural feature of which is that a receiving disk with radial slits is rotated on a moving body. At the same time, a laser beam is irradiated from a fixed light source to this, and the light that passes through the slit is refracted by a lens and applied to a photodetector placed on the central axis of the light-receiving disk. Depending on the distance from the center of the receiving disk to the irradiation point of the laser beam and the rotation angle of the receiving disk,
The point is to find the position of the irradiation point of the laser beam and detect the position of the moving body based on this.
シールドによるトンネル掘削では、掘削を所定方向に進
めるためにシールドの位置を常に確認する必要があり、
本発明はこの場合に利用できるものであるが、本発明の
用途がこれに限定されないことは勿論である。In tunnel excavation using a shield, it is necessary to constantly check the position of the shield in order to proceed with the excavation in the specified direction.
Although the present invention can be used in this case, it goes without saying that the application of the present invention is not limited to this.
以下、本発明を図面に基いて具体的に説明する。Hereinafter, the present invention will be specifically explained based on the drawings.
本発明では、被測定物である移動体（例えば、トンネル
据削用シールド）の適所に受光円板ｌを設置し、これを
回転させつつ、その上に固定光源（例えば、トンネルの
天井に取付けた光源）からビーム光線りを照射する。In the present invention, a light-receiving disc l is installed at an appropriate location on a moving object to be measured (e.g., a shield for tunnel installation), and while rotating it, a fixed light source (e.g., mounted on the ceiling of a tunnel) is mounted on the light-receiving disc l. A beam of light is emitted from a light source).
受光円板１には中心Ｏから周縁近くまで延びるスリット
２が形成されているから、このスリット２がレーザ光線
りを横切るとき、光がスリット２を通過する。Since a slit 2 extending from the center O to near the periphery is formed in the light-receiving disk 1, when the slit 2 crosses the laser beam, light passes through the slit 2.
この光は受光円板１の背後に設けたレンズ３で屈折させ
、受光円板ｌの中に軸線上に配植した光検出器４に当て
る。This light is refracted by a lens 3 provided behind the light-receiving disk 1, and hits a photodetector 4 arranged on the axis within the light-receiving disk 1.
受光円板１上の点の移動速度は中心Ｏからの距離に比例
し、スリット２がビーム光線りを横切る時間は中心Ｏか
も照射点ｐ−＋での距離ｒに反比例するから、光検出器
４の受光時間からｒが求められる。The moving speed of a point on the light-receiving disk 1 is proportional to the distance from the center O, and the time it takes for the slit 2 to cross the beam is inversely proportional to the distance r from the center O to the irradiation point p-+. r can be found from the light reception time of 4.
そして、光検出器４の受光時における受光円板ｌの基線
ＯＸからの回転角度θを、例えば、受光円板１の回転軸
５に設けたロータリーエンコーダ６等の手段で検出すれ
ば、照射点Ｐの位置は、中ノｂＯを座標の原点とする極
圧＋ｓ（ｒ、θ）で求められる。Then, if the rotation angle θ of the light-receiving disk l from the base line OX at the time of light reception by the photodetector 4 is detected by means such as a rotary encoder 6 provided on the rotation shaft 5 of the light-receiving disk 1, the irradiation point can be detected. The position of P is determined by the extreme pressure +s(r, θ) with center bO as the origin of the coordinates.
これらの演算処理は、光検出器４とロータリーエンコー
ダ６からの電気的信号を演算器に送って行い、次いで、
このように］２て求められた照射点Ｐの位置に基いて、
移動体の位置検出を行うのであるが、その態様は従来例
の場合と同様であるので、これ以上の説明は省略する。These calculation processes are performed by sending electrical signals from the photodetector 4 and rotary encoder 6 to a calculation unit, and then
Based on the position of the irradiation point P found in [2] in this way,
The position of the moving object is detected, and since the manner is the same as in the conventional example, further explanation will be omitted.
なお、図面には、１つの半径方向にのみスリットを設け
た場合が示されているが、複数の半径方向にスリットを
設けても構わない。Note that although the drawings show a case in which slits are provided in only one radial direction, slits may be provided in a plurality of radial directions.
本発明では、レーザ光線の照射点の位置測定を前述のよ
うにして行うので、単一かつ小型の光検出器を使用して
移動体の位置検出を行うことができ、この点で極めて有
意義である。In the present invention, since the position of the laser beam irradiation point is measured as described above, the position of a moving object can be detected using a single and small photodetector, which is extremely significant in this respect. be.
図面は本発明におけるレーザ光線の照射点の位置の求め
方の説明図であって、第１図は正面図、第２図は平面図
である。
図中、１・・・受光円板、２・・・スリット、３・・・
レンズ、４・・・光検出器、Ｐ・何出射点、 ・・’ｔ
’ｋ ＃’ｌ出ＩＱｉｆ人 不動ｎ設株式会社代理人弁
理士 染 谷 廣 用筆１図
第２図The drawings are explanatory diagrams of how to determine the position of the laser beam irradiation point in the present invention, and FIG. 1 is a front view and FIG. 2 is a plan view. In the figure, 1... light receiving disk, 2... slit, 3...
Lens, 4...Photodetector, P/What emission point,...'t
'k #'l Output IQif Person Fudo nsetsu Co., Ltd. Agent Patent Attorney Hiroshi Someya Brush 1 Figure 2
Claims (1)
転させるとともに、これに固定光源からレーザ光線を照
射し、スリットを通った光をレンズで屈折させて受光円
板の中心軸線上に配置した光検出器に当て、該光検出器
の受光時間から求められる受光円板の中心からレーザ光
線の照射点までの距離と、受光円板の回転角度により、
レーザ光線の照射点の位（■を求め、こねに基いて移動
体の位置を検出することを特徴とする移動体の位置検出
方法。A light-receiving disk with a slit in the radial direction is rotated on a moving body, and a laser beam is irradiated from a fixed light source to it, and the light that passes through the slit is refracted by a lens and directed onto the central axis of the light-receiving disk. The distance from the center of the light-receiving disk to the irradiation point of the laser beam, which is determined from the light reception time of the photodetector, and the rotation angle of the light-receiving disk,
A method for detecting the position of a moving body, characterized by determining the position (■) of the irradiation point of a laser beam and detecting the position of the moving body based on the position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58022490A JPS59147204A (en) | 1983-02-14 | 1983-02-14 | Position detecting method of moving body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58022490A JPS59147204A (en) | 1983-02-14 | 1983-02-14 | Position detecting method of moving body |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS59147204A true JPS59147204A (en) | 1984-08-23 |
| JPH0145003B2 JPH0145003B2 (en) | 1989-10-02 |
Family
ID=12084166
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58022490A Granted JPS59147204A (en) | 1983-02-14 | 1983-02-14 | Position detecting method of moving body |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59147204A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8258460B2 (en) | 2008-11-19 | 2012-09-04 | Everlight Electronics Co., Ltd. | Transmissive optical encoder |
-
1983
- 1983-02-14 JP JP58022490A patent/JPS59147204A/en active Granted
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8258460B2 (en) | 2008-11-19 | 2012-09-04 | Everlight Electronics Co., Ltd. | Transmissive optical encoder |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0145003B2 (en) | 1989-10-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| ES433716A1 (en) | Device for determining the profile of a surface | |
| US4766323A (en) | Method and apparatus for determining the distance of an object | |
| JPS59147204A (en) | Position detecting method of moving body | |
| US10539433B2 (en) | Light detector employing trapezoidal chips and associated methods | |
| JPS59147203A (en) | Position detecting method of moving body | |
| JPH08159722A (en) | Product dimension measuring instrument | |
| US4606223A (en) | Device for detecting rotating speed of thin shape motor | |
| JPS5728207A (en) | Determining method and apparatus for position of drifting buoy | |
| JPS57191509A (en) | Surveying method | |
| JPS59191451A (en) | Air gap monitor of rotary electric machine | |
| KR900000504Y1 (en) | Generating arrangements of pulse generator signal | |
| JPH0516571B2 (en) | ||
| JPH0715376B2 (en) | Rotation angle detector | |
| RU2088949C1 (en) | Gear finding angular position of pulse source of optical radiation | |
| JPH0421070Y2 (en) | ||
| JPH02201207A (en) | Method and apparatus for measuring angle of rotation of component part rotatable or rotating | |
| JPS60171462A (en) | Optical speed detector | |
| JP3069284U (en) | Photodetector | |
| JPS51150346A (en) | Scattering radial bundle reading method | |
| JPH0628632U (en) | Rotary encoder rotary disc | |
| JPS5694215A (en) | Noncontact position detector | |
| JPS57104810A (en) | Attitude displacement measuring apparatus for horizontal excavator | |
| FR2383648A1 (en) | Transverse tomography irradiation appts. - has rotary irradiation devices to determine sectioning plane and topographical detection devices with focal axis perpendicular to that plane | |
| JPS62172279A (en) | System for measuring position of vehicle | |
| JPH0452881B2 (en) |