JPS61225681A - Automatic tracking type distance measuring apparatus - Google Patents

Abstract

PURPOSE:To automatically vary the direction of the body according to a preset pattern, by memorizing the horizontal-wise angle and vertical-wise angle to be made of the body based on the pattern into a memory. CONSTITUTION:When an actuation switch of a measuring device is turned ON, the horizontal-wise angle theta1 and the vertical-wise angle alpha1 of the body 4 are detected with a detector 5 and are read out with a CPU7 at each specified time from the start of measurement. On the other hand, the horizontal-wise angle theta2 and the vertical-wise angle alpha2 corresponding to each time are read out of a memory 6 to calculate deviations DELTAtheta and DELTAalpha between both the horizontal-wise angles theta1 and theta2 and both the vertical-wise angles alpha1 and alpha2. The attitude of the body 4 is controlled with a servo mechanism 8 so that the deviations DELTAtheta and DELTAalpha will become zero, thereby enabling automatic varying of the direction of the body 4 according to a preset pattern.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention This invention relates to an automatic tracking distance measuring device installed on a ship or the like.

Conventional technology and its problems Automatic tracking distance measuring devices measure the distance between a fixed point and a ship, etc. by tracking a guiding light beam emitted from a floodlight placed at a fixed point on the ground side. However, the tracking range is limited to a certain angle with respect to the case where the measuring device directly faces the projector. For this reason, for example, if the measuring device is facing in the opposite direction to the projector when starting measurement, tracking will not be possible, so the direction of the measuring device must be changed until the tracking is possible. . Conventionally, the operation to change the direction was performed manually.

An object of the present invention is to provide a distance measuring device that can automatically change the orientation of the device so that it can track a fixed point without manual intervention, no matter which direction the measuring device is facing. .

Means for Solving the Problems The automatic tracking distance measuring device according to the present invention includes a measuring device main body that is supported by a navigation object so as to be swingable in horizontal and vertical directions and has a distance measuring mechanism and a tracking mechanism, and a main body that is A detector that detects the horizontal and vertical angles formed with the reference line, and a horizontal angle and a A means for storing vertical angles, a horizontal angle and a vertical angle detected by the detector as the time elapses are read, and a horizontal angle and a vertical angle corresponding to the elapsed time are read from the storage means, and both horizontal angles are read. and means for calculating the vertical angle deviation, and means for controlling the attitude of the main body based on the deviation determined by the calculating means so that the deviation becomes zero.

Example An automatic tracking distance measuring device is supported by a navigation object (1) so as to be swingable in the horizontal and vertical directions, and has a distance measuring mechanism (2).
and a measuring device main body (4) having a tracking mechanism (3), a detector (5) that detects the horizontal angle (θ1) and vertical angle (σ1) that the main body (4) makes with the reference line, respectively, and a measuring device main body (4) having a tracking mechanism (3). Means for storing horizontal angles (θ2) and vertical angles (σ2) representing a preset pattern when the main body (1) changes direction according to a preset pattern over time from the start of device operation. (6), and the horizontal angle (θ1) and vertical angle (σ1) detected by the detector (5) as the time elapses, and the horizontal angle (θ1) corresponding to the elapsed time is stored in the storage means (6).
θ2) and vertical angle (σ2), and both horizontal angles (θ
1) By means (7) for detecting the deviation (80) (Δσ) of (θ2) and the vertical angle (σ1) (σ2), and by the means (7) for starting.

and means (8) for controlling the attitude of the main body (1) based on the deviation (Δθ) (Δσ) obtained by the method so that the deviation (Δθ) (Δσ) becomes zero.

At a fixed point on the ground (9) side, a distance measuring reflection prism (10) and a tracking floodlight (11) are arranged so as to face the distance measuring mechanism (2) and the tracking mechanism (3), respectively.

The distance measuring mechanism (2) has a light beam generator for measuring distance IIl (not shown), and a distance measuring prism (1
The prism (10) emits a light beam toward the prism (10), receives the light beam reflected from the same prism (10), and calculates the distance based on the phase difference between the emitted light and the reflected light. Tracker #1 (3) has a convex lens (12) and a convex lens (12), as shown in Fig. 2.
and a light receiver (13) located slightly behind the focal point of the lens. The receiver (13) consists of a 4-minute υ] diode, as shown in detail in FIG.
Depending on the deviation from the center of the image formed by the light rays from 1), a signal of a magnitude corresponding to the deviation is output. This output signal is input to the servo mechanism (8) which is a means for controlling the attitude of the main body (1), and the servo mechanism (8)
The distance measuring mechanism (2) tracks the distance measuring prism (10) by feedback controlling the attitude of the main body (1) so that the outputs thereof are equal. Therefore, in order to enable tracking, it is necessary for the light receiver (13) to receive a certain amount of light or more and output a signal of a magnitude that can control the servo mechanism (8). The storage means (6) and the calculation means (7) are a computer memory and a CPU, respectively.

FIG. 4 and FIG. 5 each show, as an example, the horizontal angle (θ2) and vertical angle (σ2) patterns stored in the memory (6).

When the measuring device operation switch is turned on, the horizontal angle (θ1 〉 and vertical angle (σ
1) are detected, and the CPLJ (7) reads the horizontal angle (θ1) and vertical angle (σ1) from the detector (5) at predetermined time intervals from the start of measurement, and also records them from the memory (6). Horizontal angle corresponding to time (θ2
) and vertical angle (σ2) are read, and both horizontal angles (θ1
) (θ2) and the deviation of the vertical angle (σI), (σ2) (
80) (Δσ) is calculated.

Then, the deviation (Δθ:) (
The attitude of the main body (1) is controlled so that Δσ) becomes zero. As a result, the main body (1) changes its direction according to a preset pattern as shown in FIGS. 4 and 5, but when tracking by the tracking mechanism (3) becomes possible, the servo mechanism ) is controlled by CPLJ (7
) is switched from one based on the command of the tracking mechanism (3) to one based on the command of the tracking mechanism (3). The switching means may be any means that outputs a switching signal based on the magnitude of the signal output by the light receiver (13) of the tracking mechanism (3), and the CP
It is also possible to use U(7).

Effects of the Invention According to this invention, the horizontal angle J that the main body should make is stored in the storage means.
3 and the vertical angle based on a preset pattern, the orientation of the main body can be automatically changed according to the pattern.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention, and FIG. 1 is a schematic side view showing the arrangement of the distance measuring device, FIG. 2 is a schematic arrangement and arrangement of the tracking mechanism, FIG. 3 is a front view of the light receiver, and FIG. 5 and 5 are explanatory diagrams showing patterns of horizontal angles and vertical angles respectively stored in the storage means. (1) ... Navigation object, (2) ... Distance measurement mechanism, (3
)...tracking mechanism, (4)...main body, (5)...detector, (6)...storage means, (7)...calculation means,
(8)...Control means, (θ,) (θ2)...Horizontal angle, (σ1) (σ2)...Vertical angle, (Δθ) (Δ
σ) (...deviation. Figure 1 Procedural Amendment May 73, 1985 Manabu Shiga, Commissioner of the Japan Patent Office 1, Incident Indication Patent No. 67124 of 1985
No. 2, Title of the invention Automatic tracking distance measuring device 3, Relationship with the case of the person making the amendment Patent issuer 5, Date of amendment order Showa year, month, day or more Horizontal and perpendicular to the scope of claim (1) A measuring device main body (4) is supported so as to be swingable in the direction and has a distance measuring mechanism (2) and a tracking mechanism (3), and the main body (4) is based on Q!
A detector (5) detects the horizontal angle (θ, ) and vertical angle (σ, ) formed with the line, and the main body (4) is oriented according to a preset pattern over time from the start of the measurement device operation. means (6) for storing the horizontal angle (02) and vertical angle (σ2) representing the pattern as the pattern changes, and the horizontal angle (θ1) detected by the detector (5) as time passes. ) and vertical angle (
σ, ), and the horizontal angle (θ2) and vertical angle (σ2) corresponding to the elapsed time from the storage means (6).
Read and calculate both horizontal angles (θI) (θ2) and vertical angle (
Means (7) for calculating the deviation (Δθ) (Δσ) of σ, )(σ2) and the deviation (Δθ) obtained by the calculating means (7)
and means (8) for controlling the attitude of the main body (1) based on θ)(Δσ) so that the deviation (Δθ)(Δσ) thereof becomes zero.

Claims (1)

[Claims] A measuring device main body (4) is supported by the navigation vehicle (1) so as to be swingable in the horizontal and vertical directions and has a distance measuring mechanism (2) and a tracking mechanism (3), and the main body (4) each serves as a reference line. When the detector (5) detects the horizontal angle (θ_1) and the vertical angle (σ_1) and the main body (1) changes direction according to a preset pattern over time from the start of the measurement device operation. means (6) for storing horizontal angle (θ_2) and vertical angle (σ_2) representing the pattern; and horizontal angle (θ_1) and vertical angle ((σ_2) detected by the detector (5) as time passes). σ_1) and storage means (6)
Read the horizontal angle (θ_2) and vertical angle (σ_2) corresponding to the time that has passed since then, and calculate both horizontal angles (θ_1) (θ_
2) and the deviation (Δθ) of the vertical angle (σ_1) (σ_2)
(Δσ), and based on the deviation (Δθ) (Δσ) obtained by the calculation means (7), the main body (1) is adjusted so that the deviation (Δθ) (Δσ) becomes zero. An automatic tracking measuring device comprising means (8) for controlling posture.