JPS6312911A - Reference direction correcting laser projector - Google Patents
Reference direction correcting laser projectorInfo
- Publication number
- JPS6312911A JPS6312911A JP15595086A JP15595086A JPS6312911A JP S6312911 A JPS6312911 A JP S6312911A JP 15595086 A JP15595086 A JP 15595086A JP 15595086 A JP15595086 A JP 15595086A JP S6312911 A JPS6312911 A JP S6312911A
- Authority
- JP
- Japan
- Prior art keywords
- laser
- signal
- photodetection
- error
- projectors
- 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
- 238000001514 detection method Methods 0.000 claims abstract description 15
- 238000004891 communication Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract description 7
- 230000001360 synchronised effect Effects 0.000 abstract description 4
- 238000010276 construction Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【発明の詳細な説明】
(産業上の利用分野)
この発明は9回転式レーザ光を利用して作業領域内の移
動体の位置を計測するシステムに関するもので、特に作
業領域内に2台の回転レーザ投光器を設置して領域内を
レーザ光で走査し三角測量の原理によって移動体の位置
を計測するシステムにおける回転式レーザ投光装置に関
するものである。Detailed Description of the Invention (Industrial Application Field) The present invention relates to a system for measuring the position of a moving object within a working area using a 9-rotation laser beam, and particularly relates to a system for measuring the position of a moving object within a working area using a 9-rotation laser beam. The present invention relates to a rotary laser projector in a system in which a rotating laser projector is installed to scan an area with a laser beam and measure the position of a moving object using the principle of triangulation.
(従来の技術)
屋外作業の省力化や自動化をはかる上で領域内の作業車
両の位置計測を行なうことは建設現場において必要不可
欠の事項であり1作業領域内に2台の回転レーザ投光器
を設置して領域内をレーザ光で走査し三角測量の原理に
よって移動体の位置を計測するシステムは既に提案され
ている。(Conventional technology) In order to save labor and automate outdoor work, it is essential at construction sites to measure the position of work vehicles within the area, so two rotating laser projectors are installed in one work area. A system has already been proposed in which the position of a moving object is measured by scanning the area with a laser beam and using the principle of triangulation.
すなわち例えば特公昭52−1521号公報に記載され
たものにみられるように、2台の回転レーザ投光装置を
結ぶ基準方位と移動体方向の両方向をレーザ光が通過す
る時間差を計測し1両方向のなす角度を算出して三角測
量の原理を適用するシステムが提案され公知となってい
る。That is, for example, as described in Japanese Patent Publication No. 52-1521, the time difference in which laser light passes in both directions of the reference direction connecting two rotating laser projectors and the direction of the moving object is measured, and A system that calculates the angle formed by the object and applies the principle of triangulation has been proposed and is publicly known.
(発明が解決しようとする問題点)
上記のような従来方式のものでは、2台のレーザ投光器
の回転が高精度で同期されていることを前提として基準
方位信号を共用しているが。(Problems to be Solved by the Invention) In the conventional system as described above, a reference azimuth signal is shared on the premise that the rotations of the two laser projectors are synchronized with high precision.
実際には2台のレーザ投光器の回転駆動部特性の差異や
、環境変化によって2台の回転同期誤差の生じることは
免れず、そのために移動体の位置計測精度を著しく劣化
させるというような不具合を有する。In reality, it is inevitable that errors in rotation synchronization between the two laser projectors will occur due to differences in the characteristics of the rotation drive parts of the two laser projectors or changes in the environment. have
この発明は、このような不具合を解消することをその目
的とする。An object of the present invention is to eliminate such problems.
(問題点を解決するための手段及び作用)この発明は上
記問題点に鑑みなされたものであって、レーザ光を回転
発光させる2台のレーザ投光器と、これらレーザ投光器
2台を結ぶ直線上に設置された2台の受光器と、前記レ
ーザ投光器2台の回転を同期させる同期制御回路と。(Means and effects for solving the problem) This invention has been made in view of the above problem, and includes two laser projectors that rotate and emit laser light, and A synchronization control circuit synchronizes the rotation of the two installed light receivers and the two laser projectors.
前記受光器2台の出力を処理する基準方位検出回路と、
この検出信号によって基準方位補正信号を領域内へ送信
する通信装置とを具備して成り、2台のレーザ投光器の
回転同期偏差を検出して2両基準方位信号間の相対誤差
を実時間で補正することにより1位置計測精度を大幅に
向上させるものである。a reference direction detection circuit that processes the outputs of the two light receivers;
The device is equipped with a communication device that transmits a reference direction correction signal into the area based on this detection signal, detects rotation synchronization deviation of the two laser projectors, and corrects the relative error between the two reference direction signals in real time. This greatly improves the accuracy of single-position measurement.
(実施例) 以下図面に基いてこの発明の実施例について説明する。(Example) Embodiments of the present invention will be described below based on the drawings.
第1図はこの発明の基準方位補正レーザ投光装置の構成
をブロック図で示したもので、第2図は移動車両Pと2
定点A、 Bに設置した2台のレーザ投光器との位置に
ついて図解的に示したものである。FIG. 1 shows a block diagram of the configuration of the reference direction correction laser projector of the present invention, and FIG. 2 shows a moving vehicle P and a
This diagram schematically shows the positions of two laser projectors installed at fixed points A and B.
これらの図において、2台のレーザ投光器1゜2はそれ
ぞれ2定点A、Bに設置されてレーザ光8.9を回転さ
せるようになっており、2台の受光器3.4はそれぞれ
2台のレーザ投光器1.2を結ぶ直線A’ 、B’上の
A゛点 91点に設置されている。5は同期制御回路で
あって2台のレーザ投光器1,2の回転を同期させるも
ので、6は基準方位検出回路で2台の受光器3,4の出
力10.11を処理し検出信号12を通信装置7に送り
、該通信装置7は基準方位補正信号13を領域内へ送信
するようになっている。In these figures, two laser projectors 1.2 are installed at two fixed points A and B to rotate the laser beam 8.9, and two receivers 3.4 are installed at two fixed points A and B, respectively. The laser projector 1.2 is installed at the 91 point A' on the straight line A' and B' connecting the laser projectors 1 and 2. 5 is a synchronization control circuit that synchronizes the rotation of the two laser projectors 1 and 2, and 6 is a reference direction detection circuit that processes the outputs 10 and 11 of the two light receivers 3 and 4 and generates a detection signal 12. is transmitted to the communication device 7, and the communication device 7 transmits the reference direction correction signal 13 into the area.
つぎに第1図の装置の作用を第2図及び第3図に基いて
述べると、2台のレーザ投光器1゜2は同期制御回路5
によって2定点A、 Bを中心に同方向同期回転させな
がらレーザ光8,9を発光させる。ここで領域内の移動
車両Pを想定して車載受光器を14とする。領域内を走
査するレーザ光8.9は地上受光器3,4及び車載受光
器14により検出されて基準方位検出回路6゜受光角検
出回路15で処理される。すなわち第3図に示すように
、レーザ光8,9を地上受光器3.4で受光検出して基
準方位検出信号10.11を発生させて両信号の時間差
t、を計測して通信装置7から基準方位補正信号13と
して領域内へ送信する。また車両側では車載受光器14
の受光出力S、と車載通信装置で受信した前記の基準方
位補正信号13とを受光角検出回路15に入力して受光
角検出Sα、Sβを得る。Next, the operation of the device shown in FIG. 1 will be described based on FIGS. 2 and 3.
The laser beams 8 and 9 are emitted while rotating synchronously in the same direction around two fixed points A and B. Here, assuming a moving vehicle P within the area, the on-vehicle light receiver is assumed to be 14. The laser light 8.9 scanning within the area is detected by the ground light receivers 3, 4 and the vehicle-mounted light receiver 14, and processed by the reference direction detection circuit 6° and the receiving angle detection circuit 15. That is, as shown in FIG. 3, the laser beams 8 and 9 are received and detected by the ground receiver 3.4, a reference direction detection signal 10.11 is generated, the time difference t between the two signals is measured, and the communication device 7 The reference direction correction signal 13 is transmitted from within the area. Also, on the vehicle side, the in-vehicle light receiver 14
The received light output S and the reference azimuth correction signal 13 received by the in-vehicle communication device are input to the received light angle detection circuit 15 to obtain detected light angles Sα and Sβ.
とされていた Δβ=2π×□で示される誤差が補正さ
れる。The error expressed as Δβ=2π×□ is corrected.
以上のように、従来問題となっていたレーザ投光器2台
の回転同期誤差は基準方位補正信号13として実時間の
検出が可能となり、車両側ではこの誤差を補正して精確
な受光角検出Sα。As described above, the rotation synchronization error between the two laser projectors, which has been a problem in the past, can be detected in real time as the reference azimuth correction signal 13, and this error can be corrected on the vehicle side to achieve accurate light reception angle detection Sα.
Sβを得て位置計測精度を向上することができる。By obtaining Sβ, position measurement accuracy can be improved.
第4図は建設作業現場において稼働する作業車両の位置
計測システムに適用した場合を示している。FIG. 4 shows a case where the present invention is applied to a position measuring system for a working vehicle operating at a construction work site.
第5図はレーザ投光器1.2の具体的を示し。FIG. 5 specifically shows the laser projector 1.2.
レーザ発振器211発振制御回路221回転用モータ2
31回転プリズムヘッド24.昇降式三m25から構成
されている。Laser oscillator 211 Oscillation control circuit 221 Rotation motor 2
31 rotation prism head 24. It consists of a 3m25 elevator.
また受光器3.4は第6図のように受光面26゜受光素
子27.受光検出回路28.受光モニタ29゜昇降式三
脚30から構成されている。The light receiver 3.4 has a light receiving surface 26° and a light receiving element 27.4 as shown in FIG. Light reception detection circuit 28. It consists of a light receiving monitor 29° and an elevating tripod 30.
なお第7図に示すように、同期制御回路5はレーザ投光
器1,2に共通な基準発振器319位相比較回路32a
、32b、 ローパスフィルタ33a。As shown in FIG. 7, the synchronization control circuit 5 includes a reference oscillator 319 and a phase comparison circuit 32a common to the laser projectors 1 and 2.
, 32b, low-pass filter 33a.
33b、電力増幅器34a、34b、増幅整形器35a
。33b, power amplifiers 34a, 34b, amplification shaper 35a
.
35bから構成されている。35b.
このようにこの発明の実施例のものによれば。Thus, according to the embodiments of this invention.
土木建設現場など屋外作業における高精度の作業車両計
測システムが提供できる。It can provide a highly accurate work vehicle measurement system for outdoor work such as civil engineering construction sites.
(発明の効果) この発明は以上詳述したようにして成るので。(Effect of the invention) This invention is constructed as described above in detail.
2台のレーザ投光器の回転同期偏差を検出して。Detect rotation synchronization deviation of two laser projectors.
両基準方位信号間の相対誤差を実時間で補正することに
より位置計測精度を著しく向上させることができ、従っ
て土木建設現場など屋外作業における高精度の作業車両
位置計測システムが得られ1作業の自動化、無人化をは
かることができる。By correcting the relative error between the two reference direction signals in real time, the position measurement accuracy can be significantly improved. Therefore, a highly accurate work vehicle position measurement system for outdoor work such as civil engineering construction sites can be obtained, and one task can be automated. , it is possible to achieve unmanned operation.
第1図はこの発明の一実施例にがかる基準方位補正レー
ザ投光装置の構成を示すブロック図。
第2図は移動車両と2台のレーザ投光器との配置関係に
ついて図解的に示したもの、第3図は第1図のものの作
用を示すタイミングチャート図、第4図はこの装置を建
設作業現場に適用したもの、第5図はレーザ投光器の具
体例、第6図は受光器の具体例、第7図は同期制御回路
の具体例を示す。
1.2・・・レーザ投光器、 3,4・・・受光器。
5・・・同期制御回路。
6・・・基準方位検出回路、 7・・・通信装置。
特許出願人 株式会社小松製作所
代理人 (弁理士)松 澤 統
1i1 図
ii2 図
第 3 図
哨 5 図FIG. 1 is a block diagram showing the configuration of a reference direction correction laser projector according to an embodiment of the present invention. Figure 2 schematically shows the arrangement relationship between a moving vehicle and two laser projectors, Figure 3 is a timing chart showing the operation of the one in Figure 1, and Figure 4 shows how this device is installed at a construction work site. 5 shows a specific example of a laser projector, FIG. 6 shows a specific example of a light receiver, and FIG. 7 shows a specific example of a synchronous control circuit. 1.2... Laser emitter, 3,4... Light receiver. 5... Synchronous control circuit. 6... Reference direction detection circuit, 7... Communication device. Patent Applicant Komatsu Ltd. Agent (Patent Attorney) Osamu Matsuzawa 1i1 Figure ii2 Figure 3 Pictorial 5
Claims (1)
台のレーザ投光器を結ぶ直線上に設置された2台の受光
器と、前記2台のレーザ投光器の回転を同期させる同期
制御回路と、前記2台の受光器の出力を処理する基準方
位検出回路と、該検出信号によって基準方位補正信号を
領域内へ送信する通信装置とを具備して成る、基準方位
補正レーザ投光装置。Two laser projectors that emit rotating laser beams;
Two light receivers installed on a straight line connecting the two laser projectors, a synchronization control circuit that synchronizes the rotation of the two laser projectors, and a reference direction detection circuit that processes the output of the two light receivers. and a communication device that transmits a reference azimuth correction signal into the area based on the detection signal.
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP15595086A JPS6312911A (en) | 1986-07-04 | 1986-07-04 | Reference direction correcting laser projector |
US07/157,504 US4818107A (en) | 1986-05-21 | 1987-05-21 | System for measuring the position of a moving body |
PCT/JP1987/000325 WO1987007368A1 (en) | 1986-05-21 | 1987-05-21 | Apparatus for measuring position of moving body |
AU74816/87A AU591994B2 (en) | 1986-05-21 | 1987-05-21 | Apparatus for measuring position of moving body |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP15595086A JPS6312911A (en) | 1986-07-04 | 1986-07-04 | Reference direction correcting laser projector |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS6312911A true JPS6312911A (en) | 1988-01-20 |
Family
ID=15617073
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP15595086A Pending JPS6312911A (en) | 1986-05-21 | 1986-07-04 | Reference direction correcting laser projector |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS6312911A (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH01115689U (en) * | 1988-01-29 | 1989-08-03 | ||
JPH01270610A (en) * | 1988-04-22 | 1989-10-27 | Komatsu Ltd | Apparatus for measuring light wave |
-
1986
- 1986-07-04 JP JP15595086A patent/JPS6312911A/en active Pending
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH01115689U (en) * | 1988-01-29 | 1989-08-03 | ||
JPH01270610A (en) * | 1988-04-22 | 1989-10-27 | Komatsu Ltd | Apparatus for measuring light wave |
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