JPS5912370A - How to detect the position of a moving object - Google Patents

Abstract

PURPOSE:To measure any position easily by measuring the direction of beams from a laser light sources arranged at two fixed points after reflected with a corner cube prism provided on a moving object. CONSTITUTION:Laser beams emitted from laser light sources A and B arranged at two fixed points scans within a horizontal plane. When the beams hit a corner cube prism 6 provided on a lawn mower V, they reverse through an approach path back to the light source and then is received with a light receiver 12. A wireless guide device measures azimuths theta1 and theta2 of emission when the light receiver 12 received the beams at the light sources A and B set at the two fixed points and detects the position P of the lawn mower based on the theory of triangular survey. Based on the results of the detection, the lawn mower is guided wireless to run in the specified course.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for detecting the position of a moving body such as a vehicle, a ship, or an aircraft, and in particular to a method for detecting the position of a moving body such as a vehicle, a ship, or an aircraft, and in particular a method for detecting the position of a moving body such as a vehicle, a ship, or an aircraft.
This invention relates to a method for detecting the position of a body.

As a conventional method for detecting the position of a moving object, some methods using radio waves have been put into practical use, but all of these methods using radio waves are based on devices and cannot be used in any location. However, there was a drawback that it was not easy to implement.

In addition, position measuring devices using lasers have been put into practical use, but these measuring devices primarily measure the position of a stationary fixed point, and do not measure the instantaneous position of a moving object one after another. It's not that. Furthermore, since these devices are precision devices, they are difficult to use and cannot be used easily.

In view of the above circumstances, it is an object of the present invention to provide a method for detecting the position of a moving body that can be implemented with simple equipment so that it can be easily implemented in any location.

In order to achieve such an object, the method for detecting the position of a moving object according to the present invention makes it possible to detect the position by utilizing the straightness of a laser beam, and for this purpose, a laser light source provided at two fixed points is used. All laser beams are emitted sequentially in different directions from each laser beam, and the laser beams are reflected by a corner cube prism provided on the moving object and returned to the respective laser light sources, and are received by a receiver provided on each laser light source. The azimuth angle (k+j+l) of the corner cube prism for each laser light source is determined by measuring the direction of the laser light source, and the position of the moving body is measured based on the principle of triangulation. It is.

According to the above characteristic configuration, the laser beam is scanned even when the moving object moves, so it is possible to track the 403 objects and simultaneously measure the position. It can be measured with simple equipment.

Hereinafter, the present invention will be explained in detail based on the drawings.

Fig. 1 shows a lawnmower (V) which is an example of a moving object, and is equipped with front wheels +2+, +21 and rear wheels +31, 131. @(4) of the vehicle body (1) is suspended vertically and vertically. An obstacle sensor (5) is provided at the front of the vehicle body tl+, and a corner cube prism (6) is fixedly installed at the top of the vehicle body i11. In addition, the vehicle body (1) is provided with an antenna (7) and a radio control device θ4.
) and is configured to be operated by radio waves transmitted from facilities on the ground.

Figure 2 shows a laser light source (A
+, (shows the configuration of Bl, the laser emitter (8) has a cam mechanism (11) that swings it slightly up and down.
), and is placed on a turntable 101K that can be rotated in a horizontal plane by D and C motors +91.

Further, this laser emitter (8) is fixedly provided with a light receiver o21 whose light-receiving surface faces the direction in which the laser beam is emitted, and the cam mechanism and motor (9) are integrated with the laser emitter (8). ) can change its direction. A rotary encoder θ is attached to the motor (9) to detect the azimuth angle (a) indicating the direction in which the laser beam is emitted.

nrt A cam machine mtil) HD, C% -tar (1
1aHC Yo'1 is constantly driven to swing the light emitter (8) and light receiver +121 upward. In addition, a changeover switch (+6) is provided on the C motor (9) to rotate the rotary table T101i, and this switch is used to switch the motor (9) to the base where the light receiver (12) receives the laser beam and issues a light reception signal. Switch to change the direction of rotation. The tilt of the conoswitch is T-flip-flop (lf
la) and four transistors (Trl), (Tr
2), (1'r3), and (Tr4) as the main parts, and the T-flip flow rough (1(!a))
4eK output terminal (Ql,
(Q), one bare transistor (Trυ, (Tr4> or (1'r2)).

(Tr3) is configured to turn on.

FIG. 8 is a diagram illustrating a method of detecting the position of the lawn mower (V) and a method of operating the lawn mower (V). A radio guidance device 06) having the following configuration is equipped.

The laser light sources provided at two fixed points and the laser light source emitted from (8) scan in a horizontal plane while swinging slightly in the vertical direction. The laser beam is a lawnmower (
When it hits the corner cube prism (6) provided at V), the laser beam travels in the opposite direction, returns to the laser light source from which the laser beam was emitted, and is received by the receiving beam a++2+. Therefore, the radio guidance device d has two laser light sources installed at two fixed points, (B) and a light receiver (+21
The position (P) of the lawn mower (V) is detected based on the principle of triangulation by measuring the azimuth angle (hi) or (θ2) of the laser beam emitted when the laser beam is received by the Based on this, the robot (V) is guided by radio so that it travels along a predetermined path.

FIG. 4 is a block diagram showing the configuration of the guidance system for the lawn mowing engine, which includes two fixed point laser light sources +A+, fBl.
is rotated by the motor (9) according to the above configuration, and when the laser beam hits the corner cube prism (6) on the lawn mower (V) and this reflected light is detected by the light receiver U21, the light receiver (+2) receives a sensing signal. will occur. This signal is transmitted to the changeover switch (16) and the radio guidance device (1).
6) is operated manually by the calculation section θη.

The switching switch (IQ, as mentioned above, switches the direction of the current flowing to the motor (9) based on this sensing signal, so
Due to the rotation caused by inertia, the laser beam's firing direction oscillates as it tracks the lawnmower.

The arithmetic unit (one unit includes a laser light source installed at two fixed points, the light reception signal of the old) and the low-return encoder) 13+
, t131 is configured so that the outputs are manually input, and when the light reception signal is manually input, the output (σ1) of the rotary encoder ++31, 03) of each light source,
(α2) and this output (79-,), (θ
2), calculate the position (P) of the lawn mower (V), and
The results are compared with the data of a predetermined course to determine the running direction, etc. This result is transmitted to the lawn mower via a transmitter and is received by the lawn mower (receiver power on the VJ side), which is configured to operate via a servo mechanism (19).

The obstacle sensor (5) is provided to stop the vehicle when an obstacle is detected.

[Brief explanation of the drawing]

The drawings show an actual example of the method for detecting the position of a moving object according to the present invention, and FIG. 1 is an overall 1H11 diagram of a lawn mower, and FIG. 2 is a partially cutaway perspective view showing the configuration of a laser light source. crying 1
FIG. 4 is an explanatory diagram showing a road detection method, and FIG. 4 is a block diagram of the guidance system. (Al, 1111...laser light source, (V)
...Moving object, (6) ... Corner gable prism, (12) ... Light receiver, (Q, l
, (Q,)...Azimuth.

Claims (1)

[Claims] A laser light source installed at two fixed points (from the river) emits laser beams in different directions, respectively, and a moving body (V
) provided on the corner cup grism (the laser beam reflected at 61 and returned to the respective laser light sources, the respective laser light sources provided in (B), and the light receiver t+2 provided in (B)). By receiving the light at uz and measuring the direction of the laser light source, (B) at that time, each laser "-light source, (B)
A moving object characterized in that the azimuth angle (+5', ), (5iI2) of the corner cup grism (6) is measured at , and the position of the young body (V) is measured based on the principle of triangulation. position detection method.