JPS5967476A - Apparatus for detecting position of moving object - Google Patents

Abstract

PURPOSE:To obtain a position detecting apparatus simple in constitution and receiving no regulation of the Wireless Telegraphy Act, by detecting the position of a moving object by receiving the reflected beams from three known places of laser beam generated from the laser beam means of the moving object. CONSTITUTION:The laser beam from the semiconductive laser 10 mounted to a moving body is emitted to the reflection means at three known points through the slit 6 of a rotor 3 and the reflected beams are scanned to the rotary direction by the rotor 3 to be received by the light receiving elements 6, 7 of the rotor 3. Whereby, registers are successively selected through a ring counter and reflected beam detecting angle directions are stored by a rotary encoder 9. CPU calculates the open angles between three known points on the basis of these stored valves and the position of the moving object is determined by these calculated values and the positional informations of three known points. By this beam utilizing system, the position detecting apparatus of the moving object receiving no regulaton of the Wireless Telegraphy Act is obtained in simple constitution.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a device for detecting the position of a moving object, and particularly relates to a device for detecting the position of a moving object such as an automobile, an unmanned transportation device in a factory, or an airplane.

Conventionally, there have been the following devices for detecting the current location of moving objects such as cars and airplanes;
Radio wave transmission sources are installed at multiple locations on the site. and,
The mobile body receives the radio waves and calculates the current position of the mobile body from the reception direction and the like.

Such a position sensing device requires a plurality of transmitting devices, which makes it expensive. Another disadvantage is that in order to keep the transmitter operating normally, it is necessary to perform frequent inspections, inspections, and maintenance.Especially when the transmitter is used outdoors, such as at an airport, it is difficult to install the transmitter. Due to the harsh environment, constant inspection and maintenance are required.

Furthermore, since the above-described position detection device uses radio waves as a detection medium, it has the disadvantage of being subject to regulations under the Radio Law.

Therefore, the main object of the present invention is to provide a position detecting device for a moving object that is inexpensive, requires almost no inspection or maintenance, and is completely free from restrictions under the Radio Law.

To summarize, the present invention is a device that detects the position of a moving body by scanning and covering a light beam generated from the moving body in the rotating direction, and includes a light reflecting means that reflects light in the direction of incident light. Fixed at least three locations away from the moving object,
The movable body includes a light beam emitting means, a light beam scanner for scanning the light beam, and a light receiving means for receiving the reflected light from the light reflecting means, and a light receiving section of the light receiving means. The hearing angle between the three light reflection means centered around the moving object is detected based on the aperture angle detected at , and the position of the moving object is determined based on the detected opening angle and the preset position information of the light reflection means. It was designed to be amplified.

The above-mentioned objects and features of this invention are as follows:
It will become clearer from the following detailed description with reference to the drawings.

FIG. 1 is a diagram for explaining the principle of an embodiment of the invention, which will be described later. In the figure, R1? What you are looking for is
These are the position and moving direction of the moving body V.

Then, the position of C1 moving body is dust 1J (xv
.

VV). Further, the moving direction of the movement V is determined as angle information φ from the y-axis (preferably in any one of the north, south, east, and west directions).

This moving object V has a sharp pointing 11 such as a laser, for example.
A light beam generating means that generates a light beam, a light beam scanning stage that scans the light beam to the outside, and a light receiving means that receives reflected light from the light reflecting means △, B, and C, which will be described later. means.

On the other hand, the moving object V is cocooned with three light reflecting means A.

B and C are established LJ. These light reflecting means Δ or C are fixed to the ground -F when outdoors, such as at an airport, and to the ceiling or wall when indoors, such as a factory. The next L1 light reflection stages Δ to C are positioned so that they are approximately at the same height. Here, the light reflecting means Δ to C are required to have an optical property of reflecting the incident light in the direction of the incident light. In other words, such optical properties can be obtained by combining multiple tetrahedral prisms. This is so-called ]-nacube, and is commercially available1.

As described above, the optical beam is scanned from the moving body V, and this scanning surface is selected to be equal to the instep surface formed by the light reflecting means Δ or C. Therefore, the light emitted from the moving body ■ is reflected by the light reflecting means B, (: and ΔlS.

Sequential entry. The light reflection stages △ to C reflect the light emitted from the rest V in its wide direction 1, that is, in the direction of the moving body V. However, in the mobile body V, the light reflecting means] 3
．． By receiving the optical beams retracted sequentially from C and 8 and measuring the 19 light direction of the light beam at that time, the opening angle β between the light retracting means B and C with the moving body V at the center can be determined. And the opening angle α to the light reflecting means C can be known. For the purpose of (Mo), the moving body ((2) is further provided with a light receiving means and a light reflecting means (A to 0) based on the light receiving output of this light receiving means.
An opening angle detection means for detecting an opening angle between the opening angles is provided.

If we pay attention to the moving body V, the light reflecting means Δ, and the light reflecting means C, we can draw a circle 1 passing through these three points. An equation 1 representing the locus of this circle 1 can be easily obtained from the position information of the light reflecting means Δ and C, the king's listening angle α, etc. ``Then, the light reflecting means seen from the point consisting of △
This is because when the hearing angle of C and C is α, the point where it is formed is always located on the circle '1. That is, if we know the positions of two of the three different points on the same circle F and the opening angles of the two points as seen from the other point, we can find the equation of the circle passing through those three points. Similarly, the equation of the circle 2 that passes through the moving body (1), the light reflecting means C, and the light reflecting means B is calculated based on the position information of the light reflecting means (N and B) and the light reflecting means C seen from the moving body V.
and the opening angle β between 8 and 8.

” The equation of circle 1 and the equation of circle 2, which are obtained in a double series, are set as simultaneous equations, and if the position coordinates of the moving body are characterized, then the position of the intersection of circle 1 and circle 2, the In other words, the positions of the moving object (2) and the light reflecting means C can be determined. Since the position of the light reflecting means C is known in advance, the position of the moving object V can be determined by excluding the position of the light reflecting means C from the determined value.

For the purpose of producing the above-mentioned reasoning, the mobile body V is provided with legal world means. In this way, the position information of the light reflecting means Δ to C is set in advance in this display means.

Also, the listening angle detected by the aperture color detection means is displayed.

(I oh, the moving blade of the transmissive body V ((7ψ old blue)
o, move! If the (O position of the rest V is different, 1.f can be easily determined).

next,! 5 @IJ (Book V position and movement power lit
yt t(11?) in more detail.

First, the following information is set in the legal frame means of the moving body V.

(Xa, ya)...Position information of light reflecting means △ (xb
, yb)...Position information of light reflecting means B (XC, yc)
...Position information of the light reflecting means C εΔ...The line segment connecting the light reflecting means C and the x-axis is at an angle εB...The line segment connecting the light reflecting means C and B is x Angle rLA with the axis... Distance Q between light reflecting means A and C, B...
・Distance between light reflecting means C and B However, εA, εB,
εC can also be calculated from the coordinates of the light reflecting means Δ, B, and C, respectively.

First, the moving body V is scanned by a light beam from the moving body V.
light reflecting means A, B for the direction of movement of.

The respective opening angles θΔ, θB, and θC of C are measured.

Next, the opening angle α between the light reflecting means △ and C as seen from the moving body V
and the opening angle β between the light reflecting means C and B as seen from the moving body V.
is determined by the following equations <1> and (2).

α=1θ△-θC+ ...(1) β=1θB-〇C1...(2) Also, the radii γ△ and γB of )T(T and 2 are calculated by the following formula (
3) and (4).

From γΔtanα=琵△/2, γA= (u△/2)cot a・(3)78 tan
From β=QB/2, γB=(11B/2)cotβ·(4) Here, in order to simplify the calculation, consider an XY positioning system with the light reflecting means C as the origin. Center of circle 1 in XY coordinate system 0Af7) Locus 1!
J(XA, YΔ) is determined by the following equations (5) and (6).

XΔ=-γAcos (yt,/2-a-εA')=
γ△sin (ε△−1−α) ... (5) Y△−
γ△sin (π/2~α−ε△)=γAcos
(ε△・(-α) ... (6) Similarly, the coordinates (XB, YB) of the center OB of circle 2 in the XY coordinate system are calculated using the following formula (7)
and (8) Nyo'C is found.

XB=7BOO3(π/2-/3+εB>-7BSIn
(εB−β) ・(7)YB=7Bsln
rπ/2−β−tεB〉=73 cos (e B
-β) (8) Here, the equations of circles 1 and 2 are the following equations (9) and <1o>, respectively.

(Xv-XA)' + (Yv-YΔ)2=(γAM
...(9) (Xv-XB)
' + (Yv - YB) 2 = (γB) 2
(1o) By solving the above simultaneous equations (9) and (10) with XV and Yv as unknowns, the position (XV, YV) of the moving body V in the XY coordinate system is obtained.

Here, XV=XC+XV, yv=VC+
Since Y V, the position WR of the moving body V in the xy coordinate system is WR (
xv, yv) is the following formula % formula %) )] (11) ))] (12) However, X8-(jl, A/2) cot αsln (
a△+α)Y8-(JIA/2)cot acos
(εA+a>XB= (JIB/2) cot βs
in (εB −13)YB −(Q, 8/2)
cot acos(εF3-β)εA-tan'
[(ya-yc) / (xa-xc) ]εB=j
an' [(yb-yc) / (xb-XC)
] Next, the moving direction φ of the moving body V is determined. first,
The angle ξ formed by the x-axis and the line segment connecting the moving body V and the light reflecting means Δ is determined by the following equation (13).

ξ-jan 'I NIV-Va) / (xv
-xa)]...(13) Here, since φ+θA0ξ=3/2π, the moving body V
The moving direction φ is determined by the following equation (14).

φ=3/2π−θΔ−ξ (14) FIG. 2 is an external view showing an example of a light beam generating means, a light beam scanning means, a light receiving means, and an opening angle detecting means provided on the moving body V. . In the figure, a rotating shaft 5 is fixed to the center of the upper plate 4 of a circle n3. Therefore, the cylinder 3 is rotated according to the rotation of the rotating shaft 5. In addition, a hole 6 is provided on the side surface of the cylinder 3.
is formed. Inside the circle [3, there is a semiconductor laser (JQ4) as described later, and the laser beam is projected to the outside through the hole 6. Further, on both sides of the hole 6, light receiving parts (for example, photodiodes or first transistors) 7 and 8 are provided for receiving the reflected light from the light reflecting means Δ to C. Although not shown, a shaft is fixed to the center of the lower plate (t!f in the drawing) of the cylinder 3.

This shaft rotates in accordance with the rotation of the cylinder 3. This shaft is connected to a rotary encoder 9, and the rotation of the cylinder 3 is transmitted to the rotary encoder 9. This rotary encoder 9 detects the rotation of the cylinder 3 and thus the projection angle of the laser beam by the rotation transmitted from the cylinder 3.

The rotary encoder 9 is preferably of an absolute type and detects the projection angle of the laser beam with respect to the reference direction.

This reference direction is set, for example, to the moving direction of the moving body V.

FIG. 3 is a diagram showing the optical system of the embodiment shown in FIG. 12. In the figure, a semiconductor laser 10 is provided on the inner peripheral wall of a cylinder 3. The laser light emitted from this semiconductor laser 10 is diffused by a lens '-11, and further passed through a lens 12 (converted into parallel light).

This parallel light passes through a hole 6 formed in the cylinder 3 and is projected to the outside. Note that the light receiving sections 7 and 8 are for receiving the light reflected from the light reflecting means Δ to C, but instead of receiving the light reflected by the beam splitter 22 and the light C reflected by the beam splitter 22. A light receiving section 23 for receiving light from the reflecting means Δ to C may be provided.

In the above configuration, when the rotating shaft 5 rotates, the cylinder 3 and therefore the optical system therein also rotate, and scanning with laser light is performed. Further, as the cylinder 3 rotates, the rotary encoder 9 detects the rotation angle of the cylinder 3 and detects the rotation angle of the cylinder 3.
The laser beam projection angle tJ4h with respect to the moving direction is detected.

FIG. 4 is a preferred block diagram of one embodiment of the present invention. In the figure, OR gate 13 receives light receiving outputs from light receiving sections 7 and 8. The output of this OR gate 13 is given to a ring counter 14, and the AND
It is given to one input of games I to 15. The other input of this ΔN( ) gate 15 is given the angle detection output of the rotary 1 encoder 9 . That is, the output of the rotary encoder 9 is taken in by the OR output of the light receiving sections 7 and 8. The output of AND gate 15 is applied to registers 16, 17 and 18. These registers 1G to 18
Each bit output of the ring counter 14 is individually given to the . This bit output (acts as a write control signal for registers 16 to 18).In other words, each time the ring counter 14 increments, registers 16 to 18 can be written to in the order of register 16 → register 17 = 18. The outputs of these registers 16 to 18 are CPtJ1.
given to 9. A memory 20 is connected to this CPU 19. This memory 20 includes light reflecting means Δ to C.
The location information, the calculation program for the calculation of the position and movement direction of the moving body V, etc. are stored.

Therefore, the CPU 19 calculates the position information and moving direction of the moving body V based on the information given from the registers 16 to 18. Furthermore, this CP tJ 19 is connected to the user equipment 21 . This usage device 21 is a C
Devices for utilizing information or movement direction determined by P U 19 include automatic operation 1j devices, display devices, etc.

In operation, the rotating shaft 5 shown in FIG. 2 is rotated, and the laser beam is scanned by 1.7 lines. At this time, the projection angle of the sea 1f light with respect to the moving direction of the moving object (2) is sequentially output from the low-resolution encoder 9. Here, if the laser beam emitted from the moving body V strikes the light reflecting means B, the light reflecting means B reflects the incident light in the direction of the moving body V. This reflected light is detected by the light receiving section 7 or 8, and the OF
The output of Kugu 1-13 becomes high level. Therefore, the ring counter 14 is incremented, for example register 1
6 is writable. Saitama, OR game, f-'I 5
is opened, and the angle information from the rotary encoder 9 is stored in the register 10. At this time, the angle information taken into the register 16 is the projection angle of the laser beam with respect to the moving direction of the moving body V, and the opening angle θB of the light reflecting means B with respect to the moving direction of the moving body (2). Sara(, 2,
When the Rayleigh' light is scanned and the Rayleigh' light is roughly divided into the light reflecting means C, the ring counter 14 is incremented again.
Register 17 is made writable. And - (, register 17 is [-1 - angle tFJ from clear encoder 9
90 is stored. The angle information at this time is the opening angle θC of the optical layer fA4 means C extending in the moving direction of the moving body V. Furthermore, when the laser TJ' light is scanned and the laser beam hits the light reflecting means △, the opening angle O△ of the light reflecting means △ burning in the direction of movement of the moving body V changes. 18.

CI) U 19 reads the angle information θB, OC, θΔ from the registers 16 to '18, and calculates the listening angles α and β that are outside the normal frame of equations (1) and (2) described above.

Hereinafter, the legal framework of equations (3) to 12) (j) is calculated between the position of the moving body V and its moving direction.

As described above, in the above-mentioned embodiment, there is no need to install a conventional transmitter on the ground, and it is simple and inexpensive to install an RF transmitter.
R-sensing equipment is obtained. Furthermore, the light reflecting means does not require any troublesome inspection or maintenance like the transmitting device. moreover,
Since the light used as the detection medium does not interfere with each other, countless moving objects can simultaneously detect the position of C using the optical layer IJ means Δ to C.

IeK63, the above-mentioned embodiment r tit, 1 in order to increase the opening angle of the light reflecting means Δ to C with respect to the moving body by 1.
I used an absolute type low reencoder, but
Instead of this, an incremental type rotary 1-link coater may be used. In this case, it is sufficient to calculate the number of pulses outputted from the incremental type rotary cylinder 1 to 1 and calculate the angle based on the count value. Furthermore, this J: eel count means is g(14
), the rotation 1115 may be driven by a pulse motor or the like, and the angle information may be obtained by counting the number of pulses applied to the pulse motor.

In this case, the rotary 1 supporter becomes unnecessary.

Further, the cylinder 3 may be rotated around the entire circumference, or may be rotated several times over a part of the entire circumference. , [
good.

As explained above, the device for detecting the position of a moving body can be used in various fields. For example, it can be used to detect the position of Flight I on duty at an airport, or to detect the position of a ship in a port. Furthermore, it can also be used to detect the position of an unmanned moving conveyance machine indoors such as a factory.

In this case, IhiIfI! The movement of the unmanned mobile transport machine can also be remotely scanned or automatically controlled based on the position information and movement direction information obtained from the detection device. In such a case, the (CI) 19 and 20 may be installed at the center. In this case, the output information of the registers 16 to 18 may be transmitted to the center by wireless or optical. Bye.

FIG. 5 is a diagram showing another embodiment of the present invention.

In this example, mobile body v2 has Δl, BT, C
J is set number. On the other hand, means LS for generating, scanning, and receiving light beams as shown in FIGS. 2 and 3 is installed in the moving body v1. Therefore, this fruit m 閤v
+, i, the memory 20 (see Fig. 4, 9) for calculating the first position of the moving object V1 with respect to the moving object V2;
, the position of the moving body v2 (preferably, the position of the light reflecting means △', F3', (:')
Data on the positions of the optical layer f-stages A', 13', and C' with J as a reference is entered in record 1. Further, this position data is stored for each model of the moving object\12.

In the embodiment described in L, it is easy to avoid moving the moving body V1 while maintaining a constant distance and a constant angle from the moving body V2.

As described above, according to the present invention, since rank detection is performed using a light beam as a medium, the configuration is simple and there is almost no need for troublesome inspections or compartments as in the past. 2. Also, it is not subject to regulations such as the Radio Law as in the past. Furthermore, it is possible for countless moving objects to perform simultaneous (two-position detection).

[Brief explanation of the drawing]

FIG. 1 is a diagram for explaining the rabbit If of one embodiment of the present invention. 21st! 1 is a light beam generating means, a light scanning means, a light receiving means, and an interstitial lust 11 provided in the moving body\/
An example of one means is a polygon external view. Figure 3 14th? 1 and 4, which are diagrams showing the optical system in the figure, are preferred block diagrams of one embodiment of the present invention. Fig. τ' is a diagram showing another embodiment of the present invention, which is similar to Fig. 5 and No. 4. In the figure J3, ■ is a moving body, Δ'J to C is a light reflecting means, 3 is a cylinder, 5 is a rotating shaft, 7 and 8 are light receiving parts, 9 is a mouth ~ Tarien'' - evening, 1o is a semiconductor 1 node・Cloud A, 19 is CI" tJ, 20 is memory. q+i, 2 (0,0) Close 2 eyes fan 3 agony post A picture S

Claims (4)

[Claims] (1) A position detection device that detects the position of a moving body by scanning a light beam generated from the moving body in the rotational direction. three light reflecting means installed at at least three locations apart from the moving body and reflecting light in the direction of incident light; a light beam generating means provided on the moving body and generating the light beam; a light beam scanning means provided on the movable body for scanning the light beam in the rotational direction; a light receiving means provided on the movable body for receiving reflected light from the light reflecting means; , gap angle detection means for detecting the aperture angle between the three light reflection means as seen from the moving body, and position information of the three light reflection means is set in advance, and the position information and the aperture angle detection means are set in advance. a■ detected by means
A position detection device for a movable body, comprising a position calculation means for calculating the position of the movable body based on a tilt angle. (2) Claim 1 further includes means for calculating the moving direction of the moving body based on the position information of the three light reflecting means and the opening angle detected by the opening angle detecting means. The position detection device for a moving object as described in . (3) The moving body according to claim 1 or 2, wherein the three light reflecting means are installed on a fixed object, and the position calculating means calculates an absolute position from a predetermined fixed position. Position detection Pi location. (4) The three light reflecting means are installed in a moving body different from the moving body, and the position calculating means is characterized by a relative position with respect to the other moving body. 2. The moving body position detection device according to item 2.