JPS59212924A - Position detector for traveling object - Google Patents

Abstract

PURPOSE:To detect angles of triangulation with high accuracy and to know accurately the position of a traveling object itself by detecting directly the light given from a fixed light emitting part having a spot light source with a group of photodetecting elements which are arranged in a semicircumference through a slit plate having a magnet. CONSTITUTION:A traveling object 1 contains an incident angle detector consisting of a cylinder having on its inner wall the groups 7 and 8 of photodetecting elements arranged in a semicircumference and a full circumference, a slit 9a supported by a pivot on the same axis as said cylinder and a slit plate 9 having a magnet and a light emitting element 10 opposite to the reference point of the group 8. The incident angle detector delivers signals (a) and (b) to a photodetector 24. These signals (a) and (b) correspond to incident angles theta1 and theta2 of the light which is made incident to the group 7 from spot light source transmission parts 2 and 3 set on an external field wall surface D which is parallel to N-S of earth magnetism with a distance through the slit 9a. The detector 24 converts the signals (a) and (b) into binary data (f) and (g) and supplies these data to cosine circuits 16-19. Then a prescribed operation is carried out to detect the distance L between the object 1 and the substrate D. Thus both angles can be simultaneously detected in the triangulation. Thus an accurate position of the object 1 is recognized.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides: - the length of an edge is a reading value and the vertex for that edge;
This invention relates to a detection device that uses triangulation to determine the distance between a side and an apex angle by detecting two angles formed with the side.

Conventionally, there have been devices of this type as shown in FIGS. 1 and 2. In Figure 1, two fixed positions (2),
The reception unit (4) of the moving object (1) receives signals such as ultrasonic waves or light simultaneously emitted from (3), calculates the distance tl + t2 from each fixed position from the arrival time, and calculates the distance tl + t2 from the fixed position (
2), (3) from the distance t to the moving body (1) on the plane
There is a device that detects the position of In this case, the fixed position (
2), , (3) and the transmitting and receiving positions may be reversed from those of the mobile unit (1). As another method, as shown in Figure 2, a slit plate (5
) is passed through the slit of the image sensor (6), and after signal processing, tl and t2 are obtained, and the slit plate (
5) and the image sensor (6), the distance between the two points received by the image sensor (6), and the angle between these two points and the fixed point (2), and detect the distance between the moving object (1) and the image sensor (6). ) to a fixed point (2).

Conventional position detection devices for moving objects are configured as described above, so in the case shown in Figure 1, it is necessary to give simultaneous commands to the sending and receiving sides, which may affect measurement accuracy. In addition, the moving speed of the moving object also affects measurement accuracy.

In addition, in the case shown in FIG. 2, due to the relationship between the signal incidence angle and the signal bandwidth, when the incidence angle becomes large, Ll and t2
There were drawbacks such as poor detection accuracy.

This invention was made in order to eliminate the above-mentioned drawbacks of the conventional technology.
The incident angle detector is set with the direction of the magnet as a reference so that the photodetecting elements arrayed in a semicircular manner through the slit 4 directly detect the light, and the incident angle detector faces parallel to the external wall surface. To provide a self-position detecting device that can accurately detect angles that affect measurement accuracy in triangulation and control the angle of incidence detector surface by controlling the direction of the movable body itself. It is something.

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

In Fig. 4, (7) is a photodetection group arranged in a semicircular shape,
(8) is a group of photodetecting elements arranged in a complete circumference with one reference point on a cylinder coaxial with (7), and (9) is a group of photodetecting elements arranged coaxially with both (7) and (8). A slit (9α) pivoted to
) is provided with a light emitting element αq to which the reference point of the output element group (8) is to be opposed. Then, both photodetecting element groups (7), (8
) are integrally attached to the movable body (1) so as to be rotatable.

In Figures 5 to 7, it is assumed that the outer wall surface (D) is now parallel to the earth's magnetic field N-8, and the transmitting section (2> , (
3). On the other hand, the moving body (1) transmits the optical signal of the light emitting element αO attached to the slit plate with magnet (9) to a photodetecting element other than the one corresponding to the reference point of the entire circumferential photodetecting element group (8). For example, if light is being received by a photodetecting element at an angle ψ clockwise from the reference point, rotate the moving body (1) by the angle ψ so that the light emitting element (10) faces the reference point. . Thereby, the photodetecting element group (7) on the semicircle faces the outer wall surface (D) and the slit plate with magnet (9) in parallel. Therefore, as shown in FIG.
The light from (3) passes through Surin) (9,) and enters the corresponding photodetecting element of the photodetecting element group (7), and the respective incident angles θI and θ2 are detected at that position. , m from the A end of the photodetecting element group (7) in FIG.
Assuming that light is incident on the nth photodetecting elements (A) and (B) from the B end, the incident angle θ1. Since it corresponds to θ2, the photodetecting element group (force output A, Bj:
The outputs σ and b are inputted to the gold light analysis detection circuit 4) for 2 minutes 1-1l with the point 90' as the boundary. This light 1■
The 1''k circuit C24) determines that the 1'' level of the maximum amount of incident light is at points (A) and (B) using inputs a and 4 and the threshold value C from the threshold value generation circuit 01. , θl/
90°, an integer multiple of θ2/90° is output as “1”, -C1 signal d*”i, -“1” level detection circuit 94I
, and outputs signals f and g by converting them into binary numbers.

At 7゛ bar 6ζτ, move 1 degree l) with the external wall surface (D)
Find the distance from J. Therefore, the signal f, gi 6th
The cosine circuit shown in the figure is 0s, (171,'0 keg, (1@) and 5llio+ + 52n021
Sin (900-θ+), 5in (90°-02)
Calculate the arc, and then perform the front foot with the division circuit I, (2υ and the addition circuit,) and the division circuit (23+ with both transmitters (2)).

(3) The signal L (l) corresponding to the distance t between the adder circuit (2
By dividing by the output of 21, the distance between the moving body (1) and the external wall surface (D') is detected on the moving body (1) side.

In addition, in the above embodiment, fixed transmitters were provided at two locations on the external wall surface, and one set of light incident angle detectors was provided on the moving body, or conversely, a fixed transmitter section was provided at one location on the external wall surface, Even if two sets of light incident angle detectors are placed at a predetermined distance on a moving object, the same result (
(The self-position of a moving body can be detected.

N: 1'6, in the above explanation, the outer wall surface ω) on which the transmitting parts (2) and (3) are arranged is 1 (the arrangement is adjusted by 1) so that it is parallel to N-8 of the earth's magnetic field, but it is written as N-8. When the photodetecting element group (8) is arranged at an angle, the reference point of the photodetecting element group (8) is set at the above angle in the direction of (C9,). may be changed according to the above angle.

As explained below, according to the present invention, light from a fixed transmitter having a point light source is directly detected by a semicircular photodetecting element group through a slit, and the incident angle detector is parallel to the external wall surface. Since it is controlled so that they face each other, simultaneous detection of both angles can be obtained, and the detection of rθ degrees in the triangular t111 amount is carried out precisely 4 degrees, and the moving object itself can accurately determine its own position. It has the effect of ``getting what you can recognize.''

4. Drawings f, 'i +1-Office Explanation Figure 1 and j, i'-2l are plan views showing Jyuto Reikan, Figure 7), Figure 4 [Figure, Me, i'' Figure 35, FIGS. 6 and 7 show the position of a moving body according to an embodiment of the invention.
, ' has a configuration of 11 detected persons.

(1)...Moving object, (2), (Q)...Light source 4
(7), (8)...Photodetection element group, (9)...
Magnet side slit plate, (10)...Light emitting element, (D)...
・Fixed plane.

Agent Masuo Oiwa Figure 1 Figure 3 1 Zen writing Figure 5 Figure 6 Figure 7 S--LeN

Claims (1)

[Claims] A cylindrical body in which a group of photodetecting elements arranged in a semicircular manner and a group of photodetecting elements arranged in a continuous manner in a full circumference are fixed to an inner wall, and a light emitting element is coaxially supported on the cylindrical body. With a moving body equipped with one or two detectors consisting of a slit plate with a magnet,
It is characterized by receiving light from one or two light sources provided on a fixed surface perpendicular to the plane in which the moving object moves, and detecting a distance 1) between the fixed surface and the moving object, and fC. A position detection device for moving objects.