JPH0318122B2 - - Google Patents
Info
- Publication number
- JPH0318122B2 JPH0318122B2 JP21258981A JP21258981A JPH0318122B2 JP H0318122 B2 JPH0318122 B2 JP H0318122B2 JP 21258981 A JP21258981 A JP 21258981A JP 21258981 A JP21258981 A JP 21258981A JP H0318122 B2 JPH0318122 B2 JP H0318122B2
- Authority
- JP
- Japan
- Prior art keywords
- light
- amount
- received
- receiving
- detecting
- 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.)
- Expired
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/268—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light using optical fibres
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Photometry And Measurement Of Optical Pulse Characteristics (AREA)
- Measurement Of Optical Distance (AREA)
- Length Measuring Devices By Optical Means (AREA)
Description
【発明の詳細な説明】
本発明は主としてブロドーザ等の土工機械に載
置される自動レベリング装置としての受光装置に
関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention mainly relates to a light receiving device as an automatic leveling device mounted on an earthmoving machine such as a brodozer.
広大な農地、高速道路、農場用導水路、飛行場
の滑走路の建設においては、広大な地面を一定の
レベル或いは傾斜から滑らかに仕上げるため、自
動レベリング装置を備えた土工機械が使用されて
いる。 In the construction of vast farmlands, highways, farm headraces, and airfield runways, earthmoving machines equipped with automatic leveling devices are used to smooth the vast ground from a certain level or slope.
このような自動レベリング装置としては、地上
にレーザ光等による基準レベルを設定し、このレ
ーザ光等の光束を土工機械のブレード上等に設置
した受光器で受けることによつて、ブレードの高
さを知り、該高さが常に一定となるようにブレー
ド等を制御するものがある。 This type of automatic leveling device sets a reference level on the ground using a laser beam, etc., and receives the beam of this laser beam with a receiver installed on the blade of an earth-moving machine, thereby adjusting the height of the blade. There are devices that control blades and the like so that the height is always constant.
出願人は先にこの自動レベリング装置に使用さ
れる新規な受光装置を提供した。その受光装置の
一例としては、第１図ａに示したように、一端を
本体１の周面に臨ませた複数の光フアイバを軸方
向にそつて実質的に受光面積が漸増する態様で配
設するとともに、それらのフアイバ２1，２2，…
の他端をまとめて１個の受光素子（図示せず）に
導き、基準光より投射され本体１のフアイバ２1，
２2，…の端面に当る光が本体１の上方から下方
に移行するにつれて受光素子の検出する光量が増
大することを利用し、受光素子に導かれる光量に
基づき本体１に当たる基準光の位置を知るように
したものである。 The applicant has previously provided a new light receiving device for use in this automatic leveling device. As an example of such a light receiving device, as shown in FIG. and those fibers 2 1 , 2 2 ,...
The other ends are guided together to one light receiving element (not shown), and the fibers 2 1 of the main body 1 projected by the reference light are
By utilizing the fact that the amount of light detected by the light-receiving element increases as the light hitting the end faces of the main body 1 moves from above to below, the position of the reference light hitting the main body 1 can be determined based on the amount of light guided to the light-receiving element. This is what I wanted to know.
ところで、この先に提供した受光装置では、第
１図ｂに示したように、正常状態における受光特
性をＡとし、その際フアイバ２3にレーザ光が当
つているものとすれば、受光装置で測定される受
光量はl0のはずである。しかし、太陽光等の外光
が減少した場合には、各光フアイバ２1，２2，…
の受光量は特性線A′のようになる。したがつて、
このような場合には、レーザ光を光フアイバ２3
で受けたときの総受光量l0はl1に減少し、これは
恰もａ点すなわち光フアイバ２2で検知したよう
に誤検出される。 By the way, in the light-receiving device provided earlier, as shown in Fig. 1b, if the light-receiving characteristic in the normal state is A, and the laser beam is shining on the fiber 23 , the light-receiving device can measure the The amount of light received should be l 0 . However, when external light such as sunlight decreases, each optical fiber 2 1 , 2 2 ,...
The amount of light received is shown by the characteristic line A'. Therefore,
In such a case, the laser beam is connected to the optical fiber 2 3
The total amount of light received l 0 decreases to l 1 , and this is erroneously detected as if it had been detected at point a, that is, the optical fiber 2 2 .
本発明は、このような問題点に鑑みて、太陽光
等の光量が変化しても確実な位置検出を行なうこ
とのできる受光装置を提供するもので、その特徴
とするところは、受光器表面に、その中央から上
下対称にその受光面積が実質的に漸増または漸減
するように受光手段を配設し、それによつて構成
される上段受光手段群と下段受光手段群とによつ
てそれぞれ受光される光量を互に比較し、その偏
差量によつて受光位置を検出するようにしたこと
にある。 In view of these problems, the present invention provides a light receiving device that can perform reliable position detection even when the amount of light such as sunlight changes. The light receiving means is arranged such that the light receiving area substantially increases or decreases vertically symmetrically from the center, and the light is received by the upper light receiving means group and the lower light receiving means group constituted by the light receiving means, respectively. The light amounts are compared with each other, and the light receiving position is detected based on the amount of deviation.
以下図面に示した実施例を参照しながら本発明
を説明する。本発明に係る受光器１１は、第２図
ａに示したように、その表示に受光手段たとえば
光フアイバ１２1，１２2，…，１３1，１３2，…
をその中央から上下対称にその受光面積が漸増ま
たは漸減するように臨ませている。これらの光フ
アイバ１２1，１２2，…，１３1，１３2，…の他
端は、受光器１１の基部の基板１４上に配設した
太陽電池等の２個の光電変換素子１５，１６（第
５図参照）に、それぞれ上段光フアイバ群１２、
下段光フアイバ群１３をそれぞれ纏めて延設され
ており、光電変換素子１５，１６で受光量に応じ
て電気変換された出力電圧が差動増巾器１７によ
つて比較演算され、その偏差量によつて位置検出
が行なわれる。例えば、この偏差量は、これをブ
レード昇降等の制御装置１８に入力し、該制御装
置で位置検出を行ない、該制御装置によつて偏差
量が零となるようにブレードを昇降させるのに使
用される。すなわち、本発明では、第２図ｂに示
したように、レーザ光が光フアイバ１２4で受光
されているとすると、光電変換素子１５には光フ
アイバ群１２で受光された太陽光の光量Lsと光フ
アイバ１２4で受光されたレーザ光の光量Ｌの和
L0が採入れられ、また光電変換素子１６には光
フアイバ群１３で受光された太陽光の光量Lsが採
入れられる。したがつて、これらの光量の変差量
を求めれば、常にレーザ光による光量Ｌが検知さ
れることとなり、逆にその光量Ｌが知れればレー
ザ光の照射位置を検知することができる。 The present invention will be described below with reference to embodiments shown in the drawings. As shown in FIG. 2a, the light receiver 11 according to the present invention includes light receiving means such as optical fibers 12 1 , 12 2 , ..., 13 1 , 13 2 , ...
are arranged vertically symmetrically from the center so that the light-receiving area gradually increases or decreases. The other ends of these optical fibers 12 1 , 12 2 , . . . , 13 1 , 13 2 , . (see FIG. 5), upper optical fiber group 12,
The lower optical fiber groups 13 are collectively extended, and the output voltages electrically converted according to the amount of light received by the photoelectric conversion elements 15 and 16 are compared and calculated by the differential amplifier 17, and the deviation amount thereof is calculated. Position detection is performed by. For example, this amount of deviation is input to a control device 18 for lifting and lowering the blade, etc., the position is detected by the control device, and the control device is used to raise and lower the blade so that the amount of deviation becomes zero. be done. That is, in the present invention, if the laser beam is received by the optical fiber 124 as shown in FIG. The sum of s and the amount of laser light received by the optical fiber 124
L 0 is adopted, and the amount of sunlight L s received by the optical fiber group 13 is input into the photoelectric conversion element 16 . Therefore, if the amount of variation in these amounts of light is determined, the amount of light L caused by the laser beam will always be detected, and conversely, if the amount L of light is known, the irradiation position of the laser beam can be detected.
ところで、本発明では、太陽光による外光の光
量に変化が生じ、その光量がL′sとなつた際にも、
光電変換素子１５には光フアイバ群１２で受光さ
れた太陽光の光量L′sと光フアイバ１２4で受光さ
れたレーザ光の光量Ｌの和L′0が採入れられ、ま
た光電変換素子１６には光フアイバ群１３で受光
された太陽光の光量L′sが採入れられ、したがつ
てこれらの光量の変差量は光フアイバ１２4で受
光したレーザ光による光量Ｌとなり、これは太陽
光等の外光の光量変化に全く影響を受けない。 By the way, in the present invention, even when the amount of external light due to sunlight changes and the amount of light reaches L' s ,
The photoelectric conversion element 15 adopts the sum L' 0 of the amount of sunlight L' s received by the optical fiber group 12 and the amount L of the laser beam received by the optical fiber 124 , and the photoelectric conversion element 16 The amount of sunlight L' s received by the optical fiber group 13 is taken, and therefore the amount of variation in these amounts of light is the amount of light L by the laser beam received by the optical fiber 124 , which is the amount of sunlight received by the optical fiber group 13. It is completely unaffected by changes in the amount of external light such as lights.
第４図は光フアイバ１２1，１２2，…，１３1，
１３2，…を設置するための受光器枠体１９を示
したもので、該枠体はドーナツ状の支持単体２
０，２０，…と蓋体２１と基体２２からなつてい
る。支持単体２０は第４図に示したように周面に
多数の孔２３を穿設し、該孔に光フアイバ１２1，
１２2，…，１３1，１３2，…の端部を貫挿し、
その端面を支持単体１６の外表面に臨ませてい
る。このように光フアイバ１２1，１２2，…，１
３1，１３2，…を配設した支持単体２０は、互に
接合され、さらに該単体によつて形成される中空
部に合成樹脂等を充填して光フアイバ１２1，１
２2，…，１３1，１３2，…が固定される。次い
で、これらの支持単体の上部には蓋体２１が載置
接合され、下部には基体２２が接合されて受光器
１１が完成する。 FIG. 4 shows optical fibers 12 1 , 12 2 ,..., 13 1 ,
13 2 ,... is shown, and the frame body is a donut-shaped supporting unit 2.
0, 20, . . . , a lid body 21 and a base body 22. As shown in FIG. 4, the support unit 20 has a large number of holes 23 in its circumferential surface, and optical fibers 12 1 , 12 are inserted into the holes.
The ends of 12 2 ,..., 13 1 , 13 2 ,... are penetrated,
Its end face faces the outer surface of the support unit 16. In this way, the optical fibers 12 1 , 12 2 ,...,1
3 1 , 13 2 , ... are attached to each other, and the hollow portion formed by the support units 20 is filled with synthetic resin or the like to form optical fibers 12 1 , 1 .
2 2 ,..., 13 1 , 13 2 ,... are fixed. Next, the lid body 21 is mounted and bonded to the upper part of these supporting units, and the base body 22 is bonded to the lower part, thereby completing the light receiver 11.
なお、上記実施例における支持単体２０は、光
フアイバ１２1，１２2，…，１３1，１３2，…の
支持を該単体の周壁に穿設した孔２３，２３，…
…によつて行なつているが、光フアイバ１２1，
１２2，…，１３1，１３2，…を第６図に示した
ように周壁上面に形成した溝２３′，２３′，…に
よつて支持させるようにしてもよい。 Note that the support unit 20 in the above embodiment has holes 23 , 23 , .
It is carried out by optical fiber 12 1 ,
12 2 , . . . , 13 1 , 13 2 , . . . may be supported by grooves 23 ′, 23 ′, .
また、上記実施例では、各列における光フアイ
バの受光面積を、光フアイバの本数を変えること
によつて変化させているが、これを太さの異なつ
た光フアイバを使用することによつて実現しても
よく、また受光器外面にフイルタを塗布し、その
塗密度を変えることによつても実現することがで
きる。 Furthermore, in the above embodiment, the light-receiving area of the optical fibers in each row is changed by changing the number of optical fibers, but this can be achieved by using optical fibers of different thicknesses. This can also be achieved by coating the outer surface of the light receiver with a filter and changing the coating density.
さらにまた、実施例では受光手段として光フア
イバを使用しているが、受光器表面に太陽電池等
の受光素子を配設してもよいことは勿論である。 Furthermore, although an optical fiber is used as the light receiving means in the embodiment, it goes without saying that a light receiving element such as a solar cell may be provided on the surface of the light receiver.
上記したように、本発明に係る受光装置は、太
陽光等による外光の影響を全く受けることがな
く、したがつて常に正確な位置検出を行なうこと
ができる。 As described above, the light receiving device according to the present invention is completely unaffected by external light such as sunlight, and therefore can always perform accurate position detection.
第１図ａは先に提供した受光器を概念的に示し
た斜視図、第１図ｂはその受光特性を示した図、
第２図ａは本発明に係る受光器を概念的に示した
斜視図、第２図ｂはその受光特性を示した図、第
３図は本発明に係る受光装置の受光位置検出のた
めのブロツク図、第４図は受光器枠体を示した分
解斜視図および縦断面図、第５図は受光器の横断
面平面図、第６図は他の支持単体を示した斜視図
である。
１１……受光器、１２1，１２2、……光フアイ
バ（受光手段）、１３1，１３2、……光フアイバ
（受光手段）、１２……上段受光手段群、１３……
下段受光手段群、１５，１６……光電変換素子、
１７……差動増巾器、１８……制御装置。
FIG. 1a is a perspective view conceptually showing the light receiver provided earlier, FIG. 1b is a diagram showing its light receiving characteristics,
FIG. 2a is a perspective view conceptually showing a light receiver according to the present invention, FIG. 2b is a diagram showing its light receiving characteristics, and FIG. 4 is an exploded perspective view and a vertical sectional view showing the light receiver frame, FIG. 5 is a cross-sectional plan view of the light receiver, and FIG. 6 is a perspective view showing another supporting unit. 11... Light receiver, 12 1 , 12 2 ,... Optical fiber (light receiving means), 13 1 , 13 2 ,... Optical fiber (light receiving means), 12... Upper light receiving means group, 13...
Lower light receiving means group, 15, 16... photoelectric conversion element,
17... Differential amplifier, 18... Control device.
Claims (1)
れた受光器で受光し、その受光位置に基ずきブレ
ードのレベリング制御を行なう土工機械のブレー
ドレベリング制御に用いられる受光位置検出装置
において、 その中央位置から上下対称に受光面積が実質的
に漸増または漸減するように受光手段をその表面
に配設した受光装置と、 この受光装置の上段受光手段群の受光量を検知
する上段受光量検知手段と、 前記受光装置の下段受光手段群の受光量を検知
する下段受光量検知手段と、 これら上段受光量検知手段および下段受光量検
知手段の各検知出力の差を求める減算手段と、 を具え、前記減算手段の減算結果から前記基準光
の前記受光装置での受光位置を検出するようにし
た受光位置検出装置。[Scope of Claims] 1. Used for blade leveling control of an earth-moving machine, in which horizontally projected reference light is received by a light receiver mounted on the earth-moving machine, and leveling of the blade is controlled based on the light receiving position. A light-receiving position detecting device comprising: a light-receiving device having a light-receiving means disposed on its surface so that the light-receiving area substantially gradually increases or decreases vertically symmetrically from the central position; and the amount of light received by the upper light-receiving means group of the light-receiving device. an upper stage received light amount detection means for detecting the amount of received light; a lower stage received light amount detection means for detecting the amount of light received by the lower stage light receiving means group of the light receiving device; A light-receiving position detecting device, comprising: subtracting means for determining the reference light, and detecting a light-receiving position of the reference light on the light-receiving device from the subtraction result of the subtracting means.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21258981A JPS58113808A (en) | 1981-12-28 | 1981-12-28 | Light receiving position detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21258981A JPS58113808A (en) | 1981-12-28 | 1981-12-28 | Light receiving position detection device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS58113808A JPS58113808A (en) | 1983-07-06 |
| JPH0318122B2 true JPH0318122B2 (en) | 1991-03-11 |
Family
ID=16625199
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP21258981A Granted JPS58113808A (en) | 1981-12-28 | 1981-12-28 | Light receiving position detection device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS58113808A (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4907874A (en) * | 1988-08-05 | 1990-03-13 | Spectra-Physics, Inc. | Detection and display device |
| NL9002211A (en) * | 1990-10-11 | 1992-05-06 | Philips Nv | POSITION SENSITIVE RADIATION DETECTION SYSTEM AND OPTICAL SCANNING DEVICE THEREOF. |
-
1981
- 1981-12-28 JP JP21258981A patent/JPS58113808A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS58113808A (en) | 1983-07-06 |
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