JPS59211817A - Position detector for moving body - Google Patents

Abstract

PURPOSE:To enable a highly accurate detection of angles great in the effect on the measuring accuracy at the triangulation by making lights from two light sources of a moving body incident to a detector comprising a semi-cylinder on the inner wall of which a group of photo detection element and a slit plate. CONSTITUTION:Lights from two light sources 2 and 3 on a moving truck 1 enter into any element of a group 7 of photo detection elements having 360 photo detection elements arranged on a semi-circumference passing slits of a slit plate 9 and hence, the incident position corresponds to angles theta1 and theta2 between the light sources 2 and 3 and slit holes. Outputs (a) and (b) of the photo detection group 7 are inputted into a binary coding circuit 24 to judge the incident position depending on '1' level corresponding to the incident state of light and outputs (f) and (g) obtained by converting any one among those 360 elements into a 8-bit data are inputted into an arithmetic circuit 26. Thus, a highly accurate detection of angles can be done in the triangulation of a moving body by direct detection with the photo detection element group 7.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides the following features:
This invention relates to a detection device using triangulation that detects two angles formed with the side and determines the distance between the side and the apex angle.

Conventionally, there have been devices for this plow as shown in Figures 1 and 2 of Box. In Figure 1, there are two fixed positions (21,
Signals such as ultrasonic waves or light simultaneously emitted from (3) are received by the receiving unit (4) of the moving object (11), and the distance 11e12 from each fixed position is determined from the arrival time.
There is a device that detects the position 7L of a moving body (1) on a plane from the distance t of 1, (3). This joint, fixed position (2+
(3) The transmitting and receiving positions may be reversed from those of the mobile unit (1). Another method, as shown in Fig. 2, is to pass the ultrasonic or optical signals emitted from a fixed position (2) through the slits of a slit plate (5) with slits Y"Et at 72 locations to create an image. Received by sensor (6),
After signal processing, find 11 and 47, and calculate the distance 6h between the slit plate (57 and the image sensor (62) and the image sensor (
There is a device that detects the distance LY from the moving object (1) to the fixed point (2) by detecting the distance between the two points received by 6) and the angle formed between these two points and the first front foot point (2). .

Since the conventional position detection device for a moving object is configured as described above, in the case shown in FIG. This affects the measurement accuracy, and the moving speed of the moving object also affects the measurement accuracy.

In addition, in the case shown in Fig. 2, due to the relationship between the signal incidence angle and the signal band width, when the incidence angle becomes thicker, 11 and t
There were drawbacks such as poor detection accuracy.

This invention was made in order to eliminate the above-mentioned drawbacks of the conventional methods. By directly detecting angles using a group of photodetecting elements arranged in a circumferential manner, measurement accuracy is affected in the case of triangulation. It is an object of the present invention to provide a device for detecting the position of a moving object from the outside world, which can accurately detect a large angle.

An embodiment of the present invention will be described below with reference to the drawings.

In Figure 6, (force is a slit plate with a slit in one place, (8) is a photodetection element group in which photodetection elements (9) are arranged in a semicircular shape, (15) is a photodetection element group ( A photodetection circuit that detects which photodetection element in the phrase the light is incident on, (11) and (12) binarizes the presence or absence of light incidence (presence = 1, absence: 0) Binarization circuit for (13)
are threshold circuits for binarization, (14) and (1
5) is a "1" level detection circuit for detecting whether the "1" level of the binary conversion signal is at the position between the clockwise and counterclockwise directions up to the ToO° position.

In Fig. 4, D is a plane fixedly provided at an arbitrary position in the outside world, and a slit plate (force and photodetection element #8J) is provided on this plane, and the following self-position detection circuit is installed on these planes. In addition, (11 is a mobile vehicle and is provided with a light source (2) and (3J/J''). (24) is a third
The photodetection circuits (16) and (17) explained in the figure are cosine circuits that generate a cosine value for the angle value output from the photodetection circuit (15), and (18) and (19) G
is a cosine circuit that generates a cosine value for (90° - angle value), (20) and (21) are cosine circuits (1
The output value of the cosine circuit (16) is divided by the output value of the cosine circuit (16), and the division circuit (22) is for dividing the output value of the cosine circuit (19) by the output value of the cosine circuit (17). ) and (21), and (23) divides the value corresponding to the distance between the photodetecting element groups (8a) and (8b) by the output value of the adding circuit (22). This is a division circuit for

Next, the operation will be explained. In Figure 4, the light source (2
The light from J and (3) passes through the slit of the slit plate (7) and enters one of the photodetecting elements constituting the photodetecting element group (8J). 01 and θ2 as shown. When this light is incident, the light detection confectionery at the positions A, B and B shown in Fig. 3 receives the light, and the light detection elements at the positions A, L and A receive the light. The analog voltage value corresponding to the tray is output.Also, since the positions A and B correspond to θ1 and θ2, for example, if the number of elements in the photodetection element group (8) is set to 660 in each semicircle, For example, at position A, there is (θi/
180°
There is a 360th)th photodetector element. Also,
The analog voltage values of the photodetecting elements located at positions other than A and A are much smaller than the analog voltage values of the photodetecting elements located at A and A.

In addition, the outputs a and b of the photodetecting element group (81' are 2, respectively).
It is input to the value conversion circuit ('') t (12), and corresponds to the light incident state with the output C of the threshold generation circuit (16) and the inputs a and b of the photodetection element 6?' (8) processing. It is determined that the “1” level is at the A and A positions, and among the 360 photodetecting elements, (θi/180° x 360) and (θi
and ev"1" level detection circuit (14)
and (15)/'-person force, (θV group.

The output fl converted into integral 8-bit data of (θi/180°x360) and (θi/180°x360) is input to the arithmetic circuit (26) shown in FIG.

Here, in the fourth factor, the external fixed plane D (p moving body (
If the distance to the position of η is #=L, then L = t/ (hm
(u O-"2) b'(' トU i )]
bmσ1), the 8-bit data f obtained corresponding to θ1 and θ2 and the IY cosine circuits (16) and (17)
・＼, and the cosine circuits (18) and (19)＼ are respectively input and closed fc8Lnθ1. sinθ2 #a
The outputs h, i, j and k, which are the values corresponding to ifl(90-01) and 1iill(90-02), are divided by M(2
0) and (n1), and the resulting outputs m and n
Adding circuit (22 people), output P obtained here,
The distance LY from the external fixed plane to the moving body (1) can be detected by the output obtained by inputting the value M corresponding to t to the division circuit (23).

In addition, in the above embodiment, an example was explained in which the slit plate and the photodetecting element group v1 were provided on the external fixed plane.
If the above-mentioned slit plate photodetection element group is also provided on a plane perpendicular to the external world fixing plane and position detection is performed, the above-mentioned 2.
The X-Y position of the moving object is determined with the point where the external stator surfaces intersect as the origin.

According to the present invention, as described above, by making the incident angle of light correspond to the number of photodetection I element groups arranged on a semicircle,
Since the angle can be detected with constant precision regardless of the relative position between the moving body and the solid plane, there is an effect that a highly accurate position detection device for the moving body can be obtained.

[Brief explanation of the drawing]

Figures 1 and 2 are plan views showing conventional examples; Figure 3;
Figure @4 is a diagram showing a position detection device for a moving body which is an embodiment of the present invention. (η... Moving object (21... Light source (7a) (7b)
)...Light source (8)...Photodetection element group (D...
External fixed plane. Agent Masuo Oiwa Figure 1

Claims (1)

[Claims] Consisting of a semi-cylindrical body in which a group of photodetecting elements arranged in a semicircular manner are fixed to an inner wall, and a slit plate fixed to the semi-cylindrical body and provided on a line connecting both ends of the photo-detecting element group. A detector is provided on a fixed surface perpendicular to the plane in which the movable body moves, and light is incident on the detector I\ from two light sources provided on the movable body, so that the detector is connected to the fixed surface and the movable body. The position i of a moving object whose % characteristic is to measure the distance to the body
ji detection device.