JPH0493685A - Automatic tracking type position measuring guide - Google Patents

Abstract

PURPOSE:To make improvements in operation efficiency in making a fixed station automatically trackable if a mobile station faces toward the fixed station, by installing a corner cube prism at the side of the mobile station. CONSTITUTION:First of all, a light-wave range finder D of a fixed station A radiates a modulation light, by flashing a infrared LED to a corner cube prism 31 of a mobile station B, receives a reflected light, and performs distance measurement. In addition, an automatic tracking projector E, making an infrared laser 2 an illuminant, flashes this laser into a modulation light, radiating it through a horizontal scanning device 3 and a vertical scanning device 4. This radiating light is reflected by the prism 31, and it is received by an optical communication receiver F doubling as tracking light receiving. With this constitution, the fixed station is able to automatically track plural mobile stations in order by the indication of a microcomputer if it is faced to the corner cube prism within the specified range, thus operation efficiency is well improved.

Description

Detailed Description of the Invention (Industrial Application Field) The present invention relates to a system in which a plurality of working devices sequentially move over a wide area on land to carry out work, such as an automatic tracking positioning system used for positioning guidance such as pile driving. This relates to a guidance device.

(Prior art) In general, when multiple working devices move sequentially to perform work over a wide area on land, the method of positioning is to measure the working point by surveying in advance and drive a pile, etc. into the working point. However, preliminary surveying over a wide area is expensive;
This was not desirable in terms of labor saving and economy.

Therefore, positioning guidance using an automatic guidance device is required, and the fixed station is equipped with an automatic tracking type optical distance meter and a communication device to send positioning data to the mobile station, and the mobile station is equipped with an automatic tracking type optical distance meter and a communication device to send positioning data to the mobile station. A device equipped with a communication @ device, for example, JP-A-63
As disclosed in Publication No. 73178, a light wave distance meter provided on the fixed station side, a reflector provided on the mobile station side, and a light wave distance meter provided on the fixed station and mobile station number, pointing toward the other station. Based on the output of a position sensor that is orthogonal to the optical axis of the objective lens and detects the deviation of the imaging point from the origin, the reference servo system swings the optical axis of the objective lens horizontally and vertically to standardize it with the other station. An eye movement tracking type positioning guidance device has been developed.

(Problem to be solved by the invention) However, since the automatic tracking light source emitted by the other station is targeted during automatic tracking, the spread angle of the output light beam must be reduced in order to effectively reach a long distance. For this reason, even if two opposing stations mechanically search for a certain range of each other, and one station's optical axis points toward the other station, automatic tracking will not start and the two stations will Automatic tracking is only possible when the optical axis is directed toward the other station at the same time, and the probability that automatic tracking will be possible is extremely low. Therefore, when starting automatic tracking, operators at both the fixed station and the mobile station must manually adjust the standards to the other station.
In order to sequentially measure a plurality of work devices with one fixed station, a dedicated worker is required at the mobile station, which has the disadvantage of significantly lowering work efficiency.

Moreover, since the conventional device simply automatically tracks each other between the fixed station and the mobile station, it is not possible to monitor and manage the overall progress of multiple tasks.

(Purpose of the invention) The present invention allows easy surveying in advance when performing one work,
In addition, it is possible to receive the transmitted light from the mobile station over a wide range without deploying a dedicated worker to each mobile station, increasing the probability that automatic tracking will be possible, and waiting to receive a movement request signal from a wide range. When a mobile signal request is received, the mobile station can be quickly captured and the mobile station can be positioned and guided, and the optical system of the mobile station can be simplified to reduce the cost of the mobile station. The object of the present invention is to provide an automatic tracking type positioning and guidance device that can collect and manage work completion information and grasp and manage multiple tasks as a whole.

Means for Solving Problem 1) The automatic tracking type positioning guidance device of the present invention consists of a single fixed station A and a plurality of mobile stations B, and the fixed station A has a light wave distance meter and a collimator optical system 1. an automatic tracking light source E equipped with a tracking light source that emits parallel light beams parallel to the optical axis of the light wave distance meter through scanners 3 and 4 that perform secondary scanning; It receives the reflected light of the light projected from the optical device E, changes it into an electrical signal, and branches it into two directions, one of which is based on the electrical signal discriminated from the direction of the scanner 3.4. Servo system 2 with microprocessor 25
7. After controlling 28 and converting the other to a digital signal,
An optical communication receiving device F, which also serves as a tracking light receiver, passes the optical communication signal to the microprocessor 25 via a communication switching device I20 that switches to a narrow-angle reception path, and a wide-angle objective lens that receives an optical communication signal from a light emission transmitting device H2 of a mobile station B, which will be described later. 14, converts it into a digital signal, connects it to the communication switching device 20, switches it with the optical communication @ signal of the optical communication receiver F, and passes it to the microprocessor 25. , a microcomputer 30 that calculates the work point of the mobile station B based on the information obtained by the optical distance meter and the encoder device 2B, and a microprocessor 25 that controls the information calculated by the microcomputer 30 and sends it to the mobile station B. Light-emitting transmitter H1 for optical communication
Each mobile station B is equipped with a predetermined reflection angle corresponding to the optical distance measuring and automatic tracking light projector E of the fixed station A, and the optical communication receiver F that also serves as a tracking light receiver. A corner cube prism 31 and a light beam from the light emitting transmitter H1 of the fixed station A are focused by a wide-angle objective lens 34, and the deviation from the center of the optical axis to the imaging point is detected by a wide-angle optical sensor 36.
A wide-angle receiver [G2] that detects the detection signal and controls the servo system 43 and 44, and also captures the measurement value of the encoder device 45 and displays the positioning guidance information on the display 46.
The device is characterized in that it is equipped with a microprocessor 42 equipped with an operation switch 47 and a light emitting transmitter H2 that transmits the measured value of the encoder device 45 as an optical transmitting signal through the wide-angle collimator 32.

(Operation of the Invention) The automatic tracking type positioning and guidance device of the present invention configured as described above is used after a fixed station is installed at a specific point surveyed in front of the vehicle using a transceiver, etc. before the start of work. First, the power is turned on, and as shown in FIG. 2, the operator manually sets the angle measurement origin C, which has been calibrated in advance, and operates the zero set switch so that the angle measurement value becomes 0 degrees. Thereafter, a plurality of mobile stations existing in the work area are manually referenced by the apparent angle a, automatic tracking is performed, and the device numbers and positions of the plurality of mobile stations are loaded into the microcomputer.

This operation is performed once at the start of the entire work and is recorded in the recording medium in the microcomputer, so it is performed 5 times every day.
There is no need to do this before starting work.

Next, the operator operates the microcomputer to enter a standby state for positioning guidance from the mobile station.

In this state, when the operator of work clothes W on the mobile station side issues a positioning guidance request using the operation switch, the fixed station receives this with the wide-angle light receiving device, determines the device number, and automatically searches for the mobile station. It becomes like this. At this point, the reception path is switched to a narrow angle reception path by the communication switching device, and the searched and identified mobile station is automatically tracked and the distance and angle are measured.
The position of the work point (P) of the work equipment is calculated using the information on the apparent angle between the mobile station and the fixed station obtained through optical communication, and the target is determined by referring to the work position order for each equipment number set in advance on the recording medium. It calculates the positional deviation from the point and transmits the direction of movement to the mobile station via optical communication.

The operator of the work equipment moves the work equipment based on the guidance information shown on the display, and the operator moves the work equipment based on the guidance information shown on the display. ! ! When reaching the point, the operation switch sends the mobile plowing information to the microcomputer at the fixed station.

When the fixed station receives the moving eaves completion signal, it turns to face approximately the center of the plurality of mobile stations, and when the receiving path is switched to the wide-angle light receiving path by the communication switching device, the fixed station receives the signal from the mobile station over a wide angle range. The system is now ready to receive positioning guidance signals.

(Example) Next, an example of the automatic tracking type positioning and guidance device of the present invention will be described based on the drawings.

FIG. 1 is a block diagram showing the entire structure of an automatic tracking type positioning and guidance device according to the present invention, and FIG. 2 is a sketch showing the positional relationship between a fixed station and a mobile station.

The device of the present invention includes a fixed station A and a plurality of mobile stations B (a single mobile station is shown in the drawing).

Fixed station A includes a light wave distance meter D, an automatic tracking floodlight iE,
Optical communication receiver F that also serves as tracking light receiver, wide-angle light receiver G1
, a light emission transmitting device H1, a horizontal servo system 27, a vertical servo system 28, and an encoder device 2 that detects the rotation angle of each servo system.
6 and a microprocessor 25 for controlling these, and is operated by a microcomputer 30 connected by an optical fiber 8-29.

The mobile station also includes a corner cube prism 31 having a reflection possible angle of ±30 degrees, which is provided in correspondence with the optical distance meter and automatic tracking light projector E of the fixed station A, and a wide-angle light receiving device G.
2, light emission transmitter H2, horizontal servo system 43, vertical servo system 44. It has an encoder device 45 that detects the rotation angle of each servo system and a microprocessor 42 that controls them, and is operated by an operation switch 47 connected to the encoder device 45, and guidance instructions are displayed on a display 46. ing.

Next, the configuration, interrelationship, and operation of each of the above parts will be explained.

First, the optical distance meter of fixed station A is arranged so that it irradiates the corner cube prism 31 of mobile station B with modulated light made by flashing an infrared LED with a wavelength of 830 nm at 15 MHz, and measures the distance by receiving the reflected light. has been done. This measurement is performed at the automatic tracking stage described below.

The automatic tracking floodlight device E uses an infrared laser 2 with a wavelength of 830 mm as a light source, which blinks at a cycle of 455 KHz to produce modulated light, which is converted into parallel light by a collimator optical system I that reduces the spread angle of the emitted beam. In order to scan this two-dimensionally, horizontal scanning device 3
and a vertical scanning device 4, the beam is arranged so as to be irradiated around an axis parallel to the optical axis of the optical distance meter and having a predetermined interval.

This irradiated light is reflected by the corner cube prism 31 when it is irradiated in the direction of the corner cube prism 31 that makes the incident angle and reflection angle equal to the angle of incidence on the mobile station B side, and is reflected by the corner cube prism 31, which also serves as a tracking light receiver @device IF. Receive light.

Furthermore, the optical communication receiver F, which also serves as a tracking light receiver, collects the received light beam with an objective lens 8, passes it through an optical interference filter 6 that transmits only a specific wavelength, forms an image on a light receiving sensor 7, and sends an electrical signal. After converting the light into
5, a horizontal servo system 27 and a vertical servo system detect the direction of the corner cube prism 31 and rotate the entire device horizontally and vertically, respectively, so that the direction of the corner cube prism 31 coincides with the central axis direction of the two-dimensional scanning light. 2
8 is controlled by a microprocessor 25 to automatically track the movement of the corner cube prism 31, and the amplifier 9 is used as an optical communication path.
The optical communication signals amplified by It is designed to be handed over to

In addition, the wide-angle light receiving device G1 includes a wide-angle objective lens 14 whose effective reception range for incident light is approximately ±50 degrees, and an optical interference filter 1.
5, is captured by a wide-angle optical sensor 16, and is sent to an amplifier 1.
7 and amplified by a frequency filter 18 into a pre-received @ signal of a predetermined frequency, which is then sent to the communication switch 20 of the optical communication receiving @ device F which also serves as the tracking light reception via the receiving board 19 which converts it into a digital signal. supply.

The light emitting transmitting device H1 transmits an optical communication signal using a signal from a transmitting board 24 controlled by a microprocessor 25.
Using a visible light semiconductor laser 23 with a wavelength of 670 nm, the center frequency is 40K)! The beam is modulated to a frequency of z, and the beam is irradiated with a small divergence angle by the collimator optical system 22.

On the other hand, the wide-angle light receiving device G2 of the mobile station B is provided corresponding to the light emitting transmitting device of the fixed station A, and collects the optical communication signal from the light emitting transmitting device H1 using the wide-angle objective lens 34. After passing through an optical interference filter 35, an image is formed on a wide-angle optical sensor 36. After this signal is amplified by an amplifier 37, it is distinguished from natural disturbance light using a frequency filter 38, and this signal is The detector 40 detects the deviation of the wide-angle objective lens 34 from the center of the optical axis, and the detected deviation is branched into a path to the microprocessor 42 and a path to be supplied to the microprocessor 42 via the optical transmission board 41. The signal from the path controls the horizontal servo system 43 and the vertical servo system 44 to rotate the device horizontally and vertically to automatically track the fixed station A by aligning the center point of the optical axis with the imaging point.

At this time, as shown in Figure 2, work point P and fixed station A
The apparent angle of is measured by the encoder device 45, this information is taken in by the microprocessor 42, and sent to the LED driver 39 as a transmission signal.

Furthermore, the light emitting transmitter H2 of the mobile station B transmits the signal sent to the LED driver 39 at a wavelength of 89 (infrared light of 1 Mg).
ED 33, the beam is amplitude-modulated to a center frequency of 40K)lz, passes through the wide-angle collimator 32, and is irradiated in the direction of the wide-angle light receiving device G1 of the fixed station A and the optical communication receiving device F, which also serves as a tracking light receiver. It has become.

This apparent angle information signal light from the mobile station B is focused by the objective lens 8 of the optical communication receiver F, which also serves as a tracking light receiver for the fixed station A, and is delivered to the microprocessor 25 via the communication switching device 20. .

Further, the apparent angle information of the mobile station B to the fixed station A is sent to the microcomputer 30 through the optical fiber 29 along with the distance to the mobile station B obtained by the two-wave distance meter D and the encoder device 26, and based on this information. The microcomputer 30 calculates the position of the working point P of the mobile station B, and calculates the deviation to the moving point of the mobile station B from the light emitting transmitter H.
1 to the wide-angle light receiving device G2 of mobile station B.

The wide-angle light receiving device G2 that receives the signal converts it into a digital signal and passes it to the microprocessor 4z.

The microprocessor 42 displays the display 4 based on the information 2.
6 displays guidance information for the worker of the working device.

Each part of the device of the present invention repeats a series of operations in the order described above, and when the worker confirms that the working device has moved to a predetermined target point, the operator presses the operation switch 47 indicating the end of movement.
is operated, and the end of movement is notified to the microprocessor 42.

Upon receiving the movement end information, the microcomputer 30 terminates automatic tracking of the mobile station B and sends a command to the optical fiber 29 to the microprocessor 25 to direct the optical axis to approximately the center position of the area where a plurality of mobile stations exist and wait. send through.

Upon receiving this command, the microprocessor 225 controls the horizontal and vertical servo systems 27 and 28, stands by with its optical axis directed in a predetermined direction.

At this time, the fixed station A uses the communication switching device 20 to separate the narrow-angle light reception signal branched from the optical communication light receiver F, which also serves as a tracking light receiver, on the light reception path, and switches to receive the signal obtained via the wide-angle light receiver Gl. .

Since the effective reception range of the wide-angle light receiving device G1 is as wide as ±50 degrees, it is possible to detect the transmission of communication signals from a plurality of mobile stations at the standby position.

Therefore, when the operator finishes the work on the mobile station and performs positioning guidance, the operator operates the positioning guidance request operation switch 47, and this information is fixed from the mobile station's light emitting transmitter H2. An optical signal is irradiated to the wide-angle light receiving device G2 of station A along with the device number of mobile station B. This signal is passed to the microcomputer 30, and the microcomputer 30 uses the device number information of mobile station B to mobile station B
After instructing the microprocessor 25 to search near the predicted position of the mobile station and starting automatic tracking, the communication switching device 20 narrows the communicable angle to prevent interference from other mobile stations.

If the target mobile station has not made a positioning guidance request, optical communication is performed to confirm the tracking positioning guidance request to another mobile station, and the above series of steps are performed to the mobile station that issued the positioning guidance request. It performs movements and provides positioning guidance.

The operation switch 47 of mobile station B includes a work progress registration switch in addition to the positioning guidance request switch and movement end switch.

(Effect of the invention) The automatic tracking type positioning and guidance device according to the present invention described above has the following features:
It has a built-in light source for automatic tracking, and for automatic tracking from a fixed station, a corner cube prism can be installed on the mobile station side. If there is a fixed station within the range, automatic tracking becomes possible.For this reason, the fixed station can automatically track the mobile station as long as the mobile station is generally facing the direction of the fixed station, and the fixed station automatically tracks the mobile station. After that, the automatic tracking light beam for the mobile station from the fixed station side will always be irradiated to a position where the mobile station can receive the light.

Therefore, as long as the corner cube prism is directed within a predetermined range, the fixed station can automatically track multiple mobile stations in sequence according to instructions from a microcomputer without the need for a special operator. If the mobile station is also automatically tracked by the fixed station, it will always be able to receive the optical communication transmission light and automatic tracking beam from the fixed station, making it possible to automatically track the fixed station.

Furthermore, since the fixed station is equipped with a wide-angle light receiving device, it is now possible to receive and stand by for positioning guidance request signals from multiple mobile stations over a wide range, and it is now necessary to automatically track mobile stations and send and receive positioning data. Then, the communication switching device selects a specific reception as a narrow-angle reception for automatic tracking.
Since only signals are accepted, unnecessary R@ can be avoided even if movement guidance request signals are issued from a plurality of mobile stations.

Furthermore, since the mobile station uses optical communication signals emitted from the fixed station for both automatic tracking and communication, the device can be configured with a simple optical system, and when multiple mobile stations are required. However, it is possible to reduce costs.

Furthermore, since work completion information can be collected by the microcomputer on the fixed station side, it is possible to understand and manage the progress of multiple works as a whole, thereby improving overall work efficiency.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the entire structure of an automatic tracking type positioning and guidance device according to the present invention, and FIG. 2 is a sketch showing the positional relationship between a fixed station and a mobile station. A: Fixed station B: Mobile station D:
Lightwave distance meter E... Automatic tracking floodlight device F...
Optical upper receiver @device G1, G2 that also serves as tracking light receiver...Wide-angle light receiver H1, H2...Emission transmitter @device 8...Objective lens 16.36...Wide-angle light receiver sensor 14 .34...Wide-angle objective lens 20...Communication switching device 25.42...Microprocessor 26.45-e
- Encoder device 27.43... Hydraulic servo system 28.44... Vertical servo system 30... Microcomputer 31... Corner cube prism 46... Display 47... ...Operation suite 7,000P ~ 2, \, \( /

Claims (1)

[Claims] 1. Consisting of a single fixed station A and a plurality of mobile stations B, the fixed station A has a light wave distance meter D and a collimator optical system 1 to make parallel light beams, which are converted into secondary light beams. An automatic tracking light projector E equipped with a tracking light source that irradiates parallel to the optical axis of the optical distance meter D through the scanning scanners 3 and 4, and light projected from the automatic tracking light projector E. After receiving the reflected light and converting it into an electrical signal, it is split into two directions.
On the other hand, a servo system 27 is operated by a microprocessor 25 based on the electrical signals discriminated from the directions of the scanners 3 and 4.
. Station B's light emitting transmitter H
2 is received through the wide-angle objective lens 14, converted into a digital signal, connected to the communication switching device 20, switched to the optical communication signal of the optical communication receiving device F, and received by the microprocessor 25. The wide-angle receiving device G1, the optical distance meter D, and the encoder device 26 that were handed over
A microcomputer 30 calculates the work point of mobile station B based on the information obtained by the microprocessor 25.
Each mobile station B is equipped with a light emitting transmitting device H1 that performs optical communication to the mobile station B by controlling the light emitting device H1. A corner cube prism 31 having a predetermined reflectable angle and a wide-angle objective lens 34 form an image of the light beam from the light emitting transmitter H1 of the fixed station A in correspondence with the optical communication receiving device F, which also serves as an optical communication receiver F, and from the center of the optical axis. The wide-angle optical sensor 36 detects the deviation to the imaging point.
A wide-angle receiving device G2 detects the signal, and a display device 46 receives the detection signal and controls the servo systems 43 and 44, and also takes in the measurement value of the encoder device 45 and displays positioning guidance information.
An automatic tracking type positioning and guidance device characterized by being equipped with a microprocessor 42 equipped with an operation switch 47 and a light emitting transmitter H2 that transmits the measured value of the encoder device 45 as an optical transmission signal through a wide-angle collimator 32. .