JPH0577005B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a position measuring device for a moving body, and more particularly to a device for measuring the current position of a moving body using reflection of light.

[Prior Art] For example, when guiding an aircraft from the runway to the taxiway at an airport, or when driving a car, an unmanned mobile guided vehicle in a factory, a golf cart, etc. on a predetermined course, the current position of these moving objects is If it were possible to measure this, it would be possible to perform automatic guidance based on that measurement, which would be very convenient.

Conventionally, devices for measuring the current position of a moving object have been used, for example, by installing radio wave transmission sources at multiple locations on the ground, receiving the radio waves on the moving object, and calculating the current position of the moving object from the receiving direction etc. I found a device that does that.

However, the above-mentioned position measuring device using radio waves requires a plurality of transmitting devices, which poses a problem in that it is expensive. In addition, in order to keep the transmitting device operating properly at all times, frequent inspections and maintenance must be performed, which poses the problem of excessive cost and labor. especially,
When used outdoors, the installation environment of the transmitting device is harsh, which increases the frequency of inspection and maintenance. Furthermore, since the above-mentioned position measuring device uses radio waves, there are also problems in that it is subject to regulations under the Radio Law and is affected by radio wave noise.

Therefore, the applicant of the present application proposed a position measuring device for a moving object that can solve all of the above-mentioned problems in Japanese Patent Application No. 60-59014 (Japanese Patent Application Laid-open No. 61-217787). To briefly explain the invention related to this proposal, on the right and left sides of the route that the moving body should travel,
A first light reflecting means and a second light reflecting means are provided respectively. These first and second light reflecting means have an optical property of reflecting incident light in the same direction, and for example, a corner cube or the like is used. On the other hand, the moving body includes an azimuth measuring means, first and second light emitting means,
First and second photodetectors, mileage measuring means, and calculating means are provided. The direction measuring means is
The moving direction of the moving body with respect to a predetermined reference direction is measured. The first light emitting means emits a light beam to the right at a predetermined angle with respect to the moving direction of the moving body, and the second light emitting means emits a light beam at a predetermined angle to the left with respect to the moving direction of the moving body. Fires a beam of light.
The first photodetector is provided in association with the first light emitting means and detects the light emitted from the first light emitting means and reflected by the first light reflecting means. Second
The photodetector is provided in association with the second light emitting means and detects the light emitted from the second light emitting means and reflected by the second light reflecting means. The travel distance measuring means measures the distance traveled by the mobile object from when one of the first and second photodetectors detects the reflected light to when the other detects the reflected light. The calculating means calculates the traveling direction of the moving body measured by the direction measuring means, the traveling distance measured by the traveling distance measuring means, and the coordinate positions of the first and second light reflecting means (this The current position of the moving body is calculated based on the coordinate position (the coordinate position has been changed in advance).

According to the above-mentioned proposed invention, the current position of a moving object is measured using the reflection of light, which is superior to the conventional device that measures the current position using radio waves as described above. The structure is simple and the device is inexpensive. Also, it is not affected by radio law regulations or radio noise. Furthermore, even if the condition of the road surface on the route along which the moving object is to travel is poor, the light reflecting means can be easily installed, and the detection sensitivity of reflected light will not be reduced. Furthermore, there is almost no need to perform maintenance and inspection of the light reflecting means.
The time and expense required for this can be significantly reduced.

[Problems to be Solved by the Invention] As described above, the invention proposed by the applicant of the present application has various effects, but on the other hand, it also includes problems to be solved. That is, in the invention according to the above proposal, if the road on which the moving object is traveling has one lane, the current position of the moving object can be accurately measured without any problem, but if the road is multi-lane, the light emitted from the moving object can be measured accurately. The beam may be blocked by a moving object running on another lane and not reach the light reflecting means, and in such a case, it becomes impossible to measure the current position.

Further, in the invention proposed above, it is possible to detect the position of an object moving on a plane, but it is difficult to detect the position of an object moving in the air. This is because it is impossible to install light reflecting means on the left and right sides of the movement course of an object moving in the air, unless it is a wall.

This invention was made to solve the above-mentioned problems, and it is possible to always and reliably measure the current position of a moving object without being obstructed by other moving objects, and it is also possible to measure the current position of a moving object without being obstructed by other moving objects. An object of the present invention is to provide a device for measuring the current position of a moving object, which can also detect the position of a mobile object.

[Means for Solving the Problems] The position measuring device for a moving object according to the present invention is arranged such that the moving object is positioned above or below the movement course of the moving object, perpendicular to the reference azimuth, and looking down or looking up at the moving object. At least first and second light reflecting means are provided. These first and second light reflecting means have an optical property of reflecting incident light in the same direction. On the other hand, the moving body includes an azimuth measuring means, first and second light reflecting means, and a first
A second photodetector, a first mileage measuring means, an attachment position related information generating means, and a current position calculating means are provided.

[Operation] The azimuth measuring means measures the deviation angle of the traveling azimuth of the moving body with respect to the reference azimuth. The first light emitting means emits a planar light beam having a predetermined angle to the right with respect to the traveling direction of the moving object upward or downward, and the second light emitting means emits a planar light beam having a predetermined angle to the right with respect to the moving direction of the moving object, and the second light emitting means On the other hand, a planar light beam having a predetermined angle to the left is emitted upward or downward. The first light detector is provided in association with the first light emitting means and detects light emitted from the first light emitting means and reflected by the first light reflecting means. A second light detector is provided in association with the second light emitting means, and a second light detector is provided in association with the second light emitting means.
The light emitted from the light emitting means and reflected by the second light reflecting means is detected. The first travel distance measuring means measures the distance traveled by the moving body from when one of the first and second photodetectors detects the reflected light to when the other detects the reflected light. The attachment position related information generation means generates information related to the attachment positions of the first and second light reflecting means. The current position calculating means calculates the deviation angle measured by the azimuth measuring means, the running distance measured by the first running distance measuring means, and the mounting position generated by the mounting position related information generating means. The current position of the moving object is calculated based on the related information. Here, since the first and second light reflecting means are provided above or below the moving object, even if there is another moving object running alongside, the light beam will not be blocked by the other moving object. The light reaches the reflecting means without fail, making it possible to measure the current position.

[Example] FIG. 2 is a front view showing the installed state of the light reflecting means. FIG. 1 is a plan view showing the appearance of an embodiment of the present invention. In the figure, poles 2 and 3 are erected at predetermined positions on the left and right sides of a road 1 having multiple lanes. A beam 4 is provided between the poles 2 and 3. Note that instead of the beam 4, a wire, rope, or the like may be used. This beam 4 is provided with a first light reflecting means 5, a second light reflecting means 7, and a third light reflecting means 6. These light reflecting means have an optical property of reflecting the incident light in the same direction as the incident direction, and for example, a corner cube or the like is used. here,
The height of the beam 4 is selected to be sufficiently higher than the height of the moving body 8 passing under it. Further, the light reflecting means 5 to 7 are arranged on a line perpendicular to the reference direction X shown in FIG. Note that this reference direction X may be selected, for example, parallel to the road 1, or may be selected, for example, north, south, east, west, etc., regardless of the direction in which the road extends. Further, the third light reflecting means 6 is provided between the first light reflecting means 5 and the second light reflecting means 7, but its arrangement position is between the first light reflecting means 5 and the second light reflecting means 7. It is selected so that it is shifted in either the left or right direction from the center position with respect to the means 7 (near the center line of the road 1 in FIG. 1).

On the other hand, on the upper part of the moving object 8 traveling on the road 1, a third light emitting means 9 is provided for measuring the deviation angle θ of the moving direction Y of the moving object with respect to the reference direction X.
and first and second light emitting means 30R and 30L for measuring the current position of the moving object. The third light emitting means 9 emits a planar light beam 10 (hereinafter, a planar light beam will be referred to as a plane beam) orthogonal to the traveling direction Y of the moving body upward. The spread angle of this plane beam 10 is selected such that when the moving body 8 passes under the beam 4, a part of the plane beam always hits the first to third light reflecting means 5, 7, and 6. . On the other hand, the first light emitting means 30R emits a surface beam 40R having an angle of 45 degrees to the right with respect to the traveling direction Y upwardly.
Further, the second light emitting means 30L emits a plane beam 40L having an angle of 45° to the left with respect to the traveling direction Y upwardly. The spread angles of these surface beams 40R and 40L are similar to the surface beam 10,
The angle is selected so that when the moving body 8 passes under the beam 4, a portion of the plane beam always hits the first and second light reflecting means 5 and 7.

FIG. 3 is a sectional view showing details of the third light emitting means 9 shown in FIG. 1. In the figure, a lens barrel 92 is housed inside a housing 91. Inside this lens barrel 92, a semiconductor laser 93, a beam splitter 94, and a lens 95 are housed. Further, a quarter wavelength plate 96 is provided at the light exit of the lens barrel 92. Furthermore, on the inner side surface of the housing 91, a light receiver 97 is provided at a portion facing the beam splitter 94.
is installed.

In the above configuration, the semiconductor laser 93
The straight light emitted from the lens passes through a beam splitter 94 and enters a lens 95. This lens 95 spreads the linear light and converts it into a plane beam 10. After this plane beam 10 passes through the quarter-wave plate 96, it is emitted to the outside. By the way, when the plane beam 10 hits any of the light reflecting means 5 to 7, the light reflecting means reflects the light in the same direction as the direction of incidence of the light.
Therefore, the reflected light returns to the first light emitting means 9 again. Therefore, after passing through the 1/4 wavelength plate 96, this reflected light is returned to straight light by the lens 95,
The beam enters the beam splitter 94. At this time, the light incident on the beam splitter 94 is
6 twice, its wavelength is shifted by a half wavelength from the light emitted from the semiconductor laser 93. Therefore, the beam splitter 94 reflects the reflected light from the light reflecting means 5 to 7 without transmitting it. The reflected light from this beam splitter 94 is
The light receiver 9 passes through a hole provided on the side of the lens barrel 92.
7. The light receiver 97 converts the incident light into an electrical signal.

As shown in FIG. 4, the first and second light emitting means 30R and 30L have the same structure as the third light emitting means 9. However, its installation angle is different from that of the third light emitting means 9 (see FIG. 1).

The detailed configuration and operation of the above embodiment will be described below. In order to measure the current position of the moving object 8,
Since it is necessary to know the deviation angle θ, the circuit and its operation for determining the deviation angle θ will be explained first.

FIG. 5 is a schematic block diagram showing an example of an azimuth measuring device mounted on the moving body 8. As shown in FIG. In the figure,
The output of the photodetector 97 is applied to the flip-flop 12 via the pulse selection circuit 11. Among the three light reception pulses obtained from the light receiver 97, the pulse selection circuit 11 selects a light reception pulse based on the light reflected from the first light reflection means 5 and a light reception pulse based on the reflection light from the second light reflection means 7. The pulse is selectively passed. The set output (Q) of flip-flop 12 is applied to one input of AND gate 13, and its polarity is inverted and applied to one input of AND gate 14. and gate 13
The output of the pulse generator 15 is given to the other input. This pulse generator 15 generates pulses corresponding to the traveling distance of the moving body 8.
The output of AND gate 13 is given to counter 16. The count value of this counter 16 is given to the other input of the AND gate 14. Further, the reset output (Q) of flip-flop 12 is given to timer 18. The output of this timer 18 is given to the counter 16 as a reset output. and gate 1
The output of 4 is given to one input of the divider circuit 17. The output of the interval setting section 19 is applied to the other input of the division circuit 17. This interval setting section 19
includes a first light reflecting means 5 and a second light reflecting means 7.
The number of pulses corresponding to the distance between the two is set in advance. Note that instead of such an interval setting section 19, a receiver that receives interval information transmitted from a transmitter provided outside the mobile body 8 may be provided. The output of the division circuit 17 is applied to a polarity addition circuit 21 via a conversion circuit 20. On the other hand, the output of the light receiver 97 is
given to. This positive/negative determining circuit 22 is for determining whether the deviation angle θ obtained by the conversion circuit 20 is positive or negative. The output of the positive/negative discrimination circuit 22 is given to the polarity addition circuit 21. The polarity adding circuit 21 adds positive or negative polarity to the output of the converting circuit 20 in response to the output of the positive/negative determining circuit 22 . The output of the polarity adding circuit 21 is given to various utilization circuits (not shown) as azimuth information of the moving body 8.

FIG. 6 is a block diagram showing details of the pulse selection circuit 11 shown in FIG. 5. In the figure, the pulse selection circuit 11 is composed of a ring counter 23 and an OR gate 24. ring counter 23
The output of the photoreceiver 97 is given to . When the first light reception pulse is applied to this ring counter 23, only its first bit becomes logic "1", and the second bit becomes logic "1".
When the third light reception pulse is applied, only the second bit becomes logic "1", and when the third light reception pulse is applied, only the third bit becomes logic "1". The logic outputs of the first and third bits are provided to flip-flop 12 via OR gate 24, respectively. Further, the logic output of the third bit is given to the ring counter 23 as a reset signal. In such a configuration, the pulse selection circuit 11 cancels the second light reception pulse and passes the first light reception pulse and the third light reception pulse. Further, when the third light reception pulse is output, the ring counter 23 is reset (all 0).

FIG. 7 is a block diagram showing details of the positive/negative discrimination circuit 22 shown in FIG. 5. In the figure, the positive/negative discrimination circuit 22 includes a ring counter 25, first and second timer circuits 26 and 27, and a comparison circuit 28. ring counter 25
has a configuration similar to that of the ring counter 23 shown in FIG. 6, and the light reception pulse of the light receiver 97 is inputted thereto.
Further, the logic output of the first bit of the ring counter 25 is applied to one input of the first timer circuit 26. Further, the logic output of the second bit is applied to the other input of the first clock circuit 26 and the second clock circuit 27.
is given to one input. Further, the logic output of the third bit is applied to the other input of the second clock circuit 27, and is also applied to the ring counter 25 as a reset signal. First clock circuit 26
measures the time width between two logical outputs given from the ring counter 25. Second clock circuit 2
The same applies to 7. The output of the first clock circuit 26 is applied to one input of a comparison circuit 28. The output of the second clock circuit 27 is applied to the other input of the comparison circuit 28. The comparison circuit 28 compares which of the first and second timer circuits 26 and 27 has a larger output, and outputs a positive or negative polarity signal based on the comparison result. This polarity signal is given to the polarity addition circuit 21.

FIG. 8 is a timing chart showing the light pulses received from the light receiver 97. FIG. 9 is a geometric layout diagram for explaining the measurement principle of an embodiment of the present invention. The operation of the above embodiment will be described below with reference to FIGS. 8 and 9.

Now, as shown in FIG. 1, it is assumed that the traveling direction Y of the moving body 8 is shifted from the reference direction X by θ. In this case, the surface beam 10 from the third light emitting means 9 first impinges on the second light reflecting means 7. Since the second light reflecting means 7 reflects the incident light in the same direction as the incident direction, the reflected light returns to the light emitting means 9, passes through a quarter wavelength plate 96, and is deflected by a lens 95 to form a beam. The light enters the printer 94. Since this incident light is shifted by a half wavelength from the output light of the semiconductor laser 93, the beam splitter 94 reflects the incident light and makes it enter the light receiver 97. In response, the light receiver 97 derives the first light reception pulse and sends the light reception pulse to the pulse selection circuit 11.
and is applied to the positive/negative discrimination circuit 22.

As mentioned above, since the pulse selection circuit 11 passes the first received light pulse, the flip-flop 1
A light reception pulse is given to 2. Since this flip-flop 12 derives a set output from the first input and a reset output from the next input, it is set by the first received light pulse that has passed through the pulse selection circuit 11. The set output (high level) of the flip-flop 12 is applied to an AND gate 13 to enable the AND gate 13, and is inverted to a low level and applied to an AND gate 14 to disable the AND gate 14. Accordingly, the pulses generated from the pulse generator 15 are applied to the counter 16 via the AND gate 13, so that the counter 16 counts the number of applied pulses. Here, the pulse generator 15 generates a pulse every time the movable body 8 advances a predetermined unit distance, and for example, a rotary encoder or the like that detects the rotation of the wheels of the movable body 8 is used. Therefore, by counting the number of output pulses of this pulse generator 15,
The travel distance of the moving body 8 can be measured.

When the moving body 8 travels a little and the surface beam 10 hits the third light reflecting means 6, the second light reception pulse is output from the light receiver 97. Pulse selection circuit 1
1 does not allow this second received pulse to pass through, so the flip-flop 12 is not inverted and the counter 16 continues counting pulses.

Furthermore, when the moving object 8 travels and the plane beam 10 hits the first light reflecting means 5, the third light reception pulse is output from the light receiver 97. This third received pulse passes through the pulse selection circuit 11 and resets the flip-flop 12. Therefore,
The flip-flop 12 has its set output at a low level and its reset output at a high level. Accordingly, AND Gate 13 is disabled,
And the AND gate 14 is activated. Therefore, the counter 16 detects the reflected light from the second light reflecting means 5 after the light receiver 97 detects the reflected light from the second light reflecting means 7.
A circuit 17 counts the number of pulses n correlated with the distance l traveled by the moving body 8 until the reflected light is detected, and divides the counted value n via an AND gate 14.
is given to one input. Also, flip-flop 1
The second reset output is given as a reset signal to the counter 16 after a certain time delay determined by the timer 18.

The other input of the division circuit 17 is given the setting value nw of the interval setting section 19. A value nw that correlates to the distance dl between the first light reflecting means 5 and the second light reflecting means 7 is set in advance in the interval setting section 19. That is, the number of pulses that would be obtained from the pulse generator 15 if the moving body 8 traveled the distance dl is preset in the interval setting section 19. Therefore, the division circuit 17 divides the count value n of the counter 16 into the first and second light reflecting means 5.
Divide (n/nw) by the setting value nw that correlates with the mounting interval of 7 and 7 to find sinθ'. This angle θ′ is the ninth
As shown in the figure, first and second light reflecting means 5
The angle made by the plane beam 10 with respect to the line segment d connecting the lines d and 7 is equal to the angle θ made by the traveling direction Y of the moving body 8 with respect to the reference direction X. Therefore,
The division circuit 17 calculates sin θ. The output of the division circuit 17 is given to a conversion circuit 20, and sin θ is converted into an angle θ. Although not shown, the conversion circuit 20 includes, for example, a ROM in which respective antilogous numbers (sine values) of sinθ (0≦θ<90°) are set at each address,
It is configured to read out an angle θ corresponding to an antilogous number equal to the division value (n/nw) from the division circuit 17. The angle θ derived from the conversion circuit 20 is an absolute value, and it is not clear whether its polarity is positive or negative with respect to the reference direction X. Therefore, for the purpose of determining whether the angle θ is positive or negative, a positive/negative determining circuit 2 is used.
2 is provided.

Next, the operation of this positive/negative discrimination circuit 22 will be explained. As shown in FIG.
When it is tilted to the right with respect to the angle, a received light pulse as shown in FIG. 8 is obtained from the light receiver 97.
In other words, the interval between the first and second received light pulses
ta is longer than the interval tb between the second and third received light pulses. This is based on the fact that the third light reflecting means 6 is provided shifted to the right of the center position, as shown in FIG. First clock circuit 26
detects the time interval ta between the first received light pulse and the second received light pulse. On the other hand, the second timer circuit 27 detects the time interval tb between the second light reception pulse and the third light reception pulse. The comparison circuit 28 is the first
Then, a comparison is made to see which of the second clock circuits 26 and 27 has a larger output. In this case, since the output of the first clock circuit 26 is larger, the comparator circuit 26
8 outputs, for example, a positive polarity signal and supplies it to the polarity adding circuit 21. Accordingly, the polarity addition circuit 21 adds a positive polarity to the absolute value angle θ output from the conversion circuit 20.

On the other hand, considering the case where the moving direction Y of the moving body 8 is shifted to the left with respect to the reference direction Detects the time interval between the received light pulse based on the reflected light of the light reflecting means 6, and
The timing circuit 27 detects the time interval between the received light pulse based on the reflected light from the third light reflecting means 6 and the received light pulse based on the reflected light from the second light reflecting means 7. Therefore, in this case, the output of the second clock circuit 27 is larger than the output of the first clock circuit 26, so the comparator circuit 28 derives a negative polarity signal and supplies it to the polarity addition circuit 21. . Accordingly, the polarity addition circuit 21 adds a negative polarity to the absolute value angle θ from the conversion circuit 20.

As described above, according to the azimuth measuring device shown in FIG.
The deviation angle θ and its polarity (positive or negative) can be accurately measured. Below, this deviation angle θ
A circuit and its operation for measuring the current position of a moving body using the following will be explained.

FIG. 10 is a schematic block diagram showing an example of a position measuring device mounted on the moving body 8. As shown in FIG. In the figure, the outputs of photodetectors 37R and 37L shown in FIG. 4 are applied to one and the other inputs of OR gate 50, respectively. Here, circuit component 1
2' to 16' and 18' constitute a means for measuring the travel distance of the moving body 3, and its configuration and operation are based on the circuit component 12 shown in FIG.
-Same as 16 and 18. AND gate 1
The output of 4' is given to an arithmetic circuit 51. Also,
This arithmetic circuit 51 is given azimuth information of the moving body 8 (deviation angle θ of the traveling direction Y of the moving body 8 with respect to the reference azimuth X) from the polarity adding circuit 21 shown in FIG. Although not shown, the calculation circuit 51 includes, for example, a microcomputer, and is used to calculate the current position of the moving body.

11 to 13 are diagrams for explaining the operation of the position measuring device shown in FIG. 10. 11 and 12 are diagrams geometrically showing the positional relationship between the moving body 8 and the first and second light reflecting means 5 and 7, and FIG. 13 is a diagram showing the operation of the arithmetic circuit 51. This is a flowchart. Hereinafter, with reference to these FIGS. 11 to 13,
The position measuring operation in the position measuring device shown in FIG. 0 will be explained.

In the following explanation, when the first and second light emitting means 30R and 30L are located at point A, the surface beam 40L enters the second light reflecting means 7,
First and second light emitting means 30R and 30L
Assume that the moving object travels on a course such that the surface beam 40R is incident on the first light reflecting means 5 when the moving object is located at point B. In this case, from point A to point B
The distance P is measured by flip-flop 12', AND gates 13' and 14', pulse generator 15', counter 16', and timer 18' in FIG. This measurement operation is similar to the operation described for the apparatus shown in FIG. 5, and its explanation will be omitted.

Next, the operation of the arithmetic circuit 51 will be explained. The arithmetic circuit 51 first receives the direction information ±θ from the polarity addition circuit 21, as shown in step S11 in FIG. Then, the process proceeds to step S12, and the angle γ (the angle formed by the point A and the first light reflecting means 5 with the second light reflecting means 7 as the apex) is calculated by the following equation.

γ=180°−45°−β However, β=90°−θ Next, the process proceeds to step S13, and the coordinates of point C are calculated based on the polarity (positive/negative) of the azimuth information ±θ and the angle γ. This point C is a circle 5 whose diameter is the line segment d connecting the first and second light reflecting means 5 and 7.
2 and a straight line having an angle γ with respect to the line segment d. The coordinate positions of the first and second light reflecting means 5 and 7 (coordinate positions with respect to a certain origin, but this origin may be determined in relation to latitude and longitude on the earth, for example, or may be determined in relation to the travel course) may be determined in relation to the above, and the manner in which it is determined is arbitrary).
The equation of the circle 52 is set in advance in the arithmetic circuit 51 (however, the equation of the circle 52 may be calculated from the coordinate position). Therefore,
If angle γ is known, the coordinates of point C can be easily calculated. Note that the coordinate positions of the first and second light reflecting means 5 and 7 and the equation of the circle 52 do not necessarily have to be set in the arithmetic circuit 51;
These pieces of information transmitted from outside the mobile body 8 may be received by a receiver provided within the mobile body 8. Next, proceed to step S14,
Distance information n from the AND gate 14 is input.
This distance information n is the distance traveled by the moving body 8 from when one of the light receivers 37R and 37L detects the reflected light until the other detects the reflected light,
It is equal to the distance P between points A and B. Next, the process proceeds to step S15, where the distance Q between point C and point B is calculated. As shown in Figure 12, points A, B, C
Since the triangle having the vertex is a right-angled isosceles triangle, the distance Q can be easily calculated using the following equation.

Q=P/√2 Next, proceeding to step S16, the coordinates of point B are calculated based on the coordinates of point C and the distance Q. The coordinates of point B are on the line segment connecting point C and first light reflecting means 5, and are located at a distance of Q from point C. Next, the process advances to step S17, and the coordinates of point B calculated in step S16 are output as position information.

However, when the moving body 8 passes over the point C at the deviation angle θ, the surface beams 40R and 40L simultaneously enter the first and second light reflecting means 5 and 7, so that the beams from the light receivers 37R and 37L are Detection output can be obtained at the same time. Therefore, in this case, the distance P becomes O, and the distance Q calculated in step S15
also becomes 0. Therefore, the coordinate position of point C is calculated as the current position.

In the above embodiment, the plane beam 10 is
A case has been described in which the surface beams 40R and 40L enter the first and second light reflecting means 5 and 7 after the direction information θ is obtained, but even if this relationship is reversed, It is possible to measure the current position even if In this case, if the position information is calculated at the time when the azimuth information ±θ is obtained, the position information of the past point B will be obtained. However, the distance traveled by the moving body 8 from point B until the direction information ±θ is obtained is extremely short, and its movement trajectory can be considered to be approximately a straight line. Therefore, by measuring the distance traveled by the moving object 8 from point B until the direction information ±θ is obtained, and adding the traveled distance to point B along the movement trajectory, the current position information can be obtained. You will get it.

In the above embodiment, the absolute position of the moving body 8 with respect to a certain origin is calculated, but if only the relative position with respect to the first and second light reflecting means 5 and 7 needs to be calculated, It is not necessarily necessary to know the coordinate positions of the first and second light reflecting means 5 and 7; it is only necessary to know the equation of the circle 52.
In this case, if the distance between the first and second light reflecting means 5 and 7 is known by some method (memorizing settings, receiving from the outside, etc.), the equation of the circle 52 can be calculated by calculation. Based on this, the relative position can be calculated.

The orientation information and position information obtained as described above can be used in various ways. For example, it may be displayed on a display, or may be used as information for automatic guidance. When performing automatic guidance, a plurality of sets of light reflecting means may be arranged along the road 1 at predetermined intervals.

In the above embodiment, the planar beams 40R and 40L were configured to be emitted at an angle of 45° to the right and 45° to the left with respect to the traveling direction Y of the moving body 8, but this angle is 45°. need not be limited to
Each can be carried at any angle. Theoretically, it is possible to calculate the current position if the plane beams 40R and 40L are not on the same plane. In this case, the geometrical approach for determining the current position of the moving body 8 is slightly different from the above-mentioned embodiment, but a person skilled in the art would be able to easily realize it from the above-mentioned embodiment, so the explanation thereof will be omitted. do.

Further, in the above embodiment, the measurement of the current position when the moving body 8 approaches each of the light reflecting means 5 to 7 has been explained, but since the surface beams 40R and 40L are also emitted to the rear of the moving body 8, Of course, it is also possible to calculate the current position when the moving body 8 moves away from each of the light reflecting means 5 to 7.

In addition, in the above embodiment, a device (third light emitting means 9, circuits shown in FIGS. 5 to 7) that utilizes light reflection was used to obtain azimuth information ±θ. A gyroscope, compass, etc. may also be used.

Furthermore, in the above embodiment, the plane beams 10, 40
In order to emit R, 40L, the light of the semiconductor laser was spread with a lens, but an optical modulator or mechanical scanning device that emits a plane beam equivalently by swinging a linear beam at high speed is also required. A device may also be used.

Furthermore, in the above embodiment, the traveling distance of the moving object 8 is measured by counting the number of pulses corresponding to the rotation of the wheels, but instead of this method, for example, the distance traveled by the moving object 8 is measured by counting the number of pulses corresponding to the rotation of the wheels. An ultrasonic oscillator, an electromagnetic wave generator, or an infrared ray generator that projects ultrasonic waves, electromagnetic waves, or light is provided on the moving body 8, and the reflected waves are detected to calculate and measure the traveling distance of the moving body using the Doppler effect or the like. Good too.

In the above embodiment, detection of the position of a moving object traveling on a road has been described. However, when applying the present invention to an object moving in the air, detection of the position of a moving object moving in the air is required. Alternatively, the light reflecting means 5 to 7 may be provided on a building (or on a building, etc.), and a plane beam may be emitted downward from the moving body. The other configurations are the same as those of the above embodiment. Such an embodiment can be applied to guiding a helicopter to a helipad, guiding an airplane to landing, controlling the movement of a crane, etc.

As described above, the present invention can be applied not only to objects moving on the ground or on the floor, but also to objects moving in the air.

[Effects of the Invention] As described above, according to the present invention, since the light reflecting means is provided at a high position overlooking the moving object or a low position looking up at the moving object, even if the moving object is moved side by side, Even if there are several moving objects, the light will surely reach each light reflecting means without being blocked by them, so the current position of the moving object can always be accurately measured.

Furthermore, even if the moving body moves in the air, a light reflecting means can be installed on the ground or on the floor, making it possible to detect the position of such a moving body.

Furthermore, the current position of a moving object can be accurately measured with a simple and inexpensive configuration, and there is almost no need for maintenance or inspection, which can significantly reduce time and costs.

[Brief explanation of the drawing]

FIG. 1 is a plan view showing the appearance of an embodiment of the present invention. FIG. 2 is a front view showing the installed state of the light reflecting means. FIG. 3 is a sectional view of the second light emitting means 9 shown in FIG. FIG. 4 shows the first and second light emitting means 30R (or 30
It is a sectional view of L). FIG. 5 is a schematic block diagram showing an example of an azimuth measuring device mounted on the moving body 8. As shown in FIG. FIG. 6 shows the pulse selection circuit 11 shown in FIG.
FIG. FIG. 7 is a block diagram showing details of the positive/negative discrimination circuit 22 shown in FIG. 5. FIG. 8 is a timing chart showing the pulses received by the light receiver 97. FIG. 9 is a geometrical schematic diagram for explaining the direction measuring operation by the direction measuring device shown in FIG. FIG. 10 is a schematic block diagram showing an example of a current position measuring device mounted on the moving body 8. As shown in FIG. Figures 11 and 12 are 10
FIG. 2 is a geometrical schematic diagram for explaining a current position measuring operation by the current position measuring device shown in the figure. 1st
FIG. 3 is a flowchart for explaining the operation of the arithmetic circuit 51 shown in FIG. 10. In the figure, 1 is a road, 5 is a first light reflecting means, 6 is a third light reflecting means, 7 is a second light reflecting means, 8 is a moving object, 9 is a third light emitting means, 10,
40R, 40L are plane beams, 30R is a first light emitting means, 30L is a second light emitting means, 93, 33
R, 33L is a semiconductor laser, 97, 37R, 37
L indicates a light receiver.

Claims (1)

[Scope of Claims] 1. A device for measuring the current position of a moving object using reflection of light, which comprises: above or below the movement course of the moving object, a direction perpendicular to a predetermined reference direction; To,
and at least first and second light reflecting means are provided so as to look down or look up at the moving body, and the light reflecting means has a characteristic of reflecting the incident light in the same direction as the incident direction. , the moving body includes: an azimuth measuring means for measuring a deviation angle of the moving direction of the moving body with respect to the reference direction; and a planar light beam having a predetermined angle to the right with respect to the moving direction of the moving body. a first light emitting means that emits a light beam upward or downward; and a second light emitting means that emits a planar light beam having a predetermined angle to the left with respect to the traveling direction of the moving object upward or downward. a first light emitting means, provided in association with the first light emitting means, for detecting light emitted from the first light emitting means and reflected by the first light reflecting means. a photodetector; a second light detector provided in association with the second light emitting means for detecting light emitted from the second light emitting means and reflected by the second light reflecting means; a photodetector; and measuring a distance traveled by the moving body between when one of the first and second photodetectors detects the reflected light and when the other detects the reflected light. a first distance measuring means for measuring the distance traveled; a mounting position related information generating means for generating information relating to the mounting positions of the first and second light reflecting means; of the moving body based on the deviation angle, the mileage measured by the first mileage measuring means, and the attachment position related information generated by the attachment position related information generating means. A position measuring device for a moving body, comprising: current position calculation means for calculating a current position. 2. The position measuring device for a moving body according to claim 1, wherein the mounting position related information generating means includes a setting storage means in which the mounting position related information is set and stored in advance. 3. The position measuring device for a movable body according to claim 1, wherein the mounting position related information generation means includes receiving means for receiving the mounting position related information transmitted from outside the movable body. 4. Position measurement of a moving object according to any one of claims 1 to 3, wherein the mounting position related information is information indicating a distance between the first and second light reflecting means. Device. 5. The mounting position related information is information indicating the coordinate positions of the first and second light reflecting means,
A position measuring device for a moving body according to any one of claims 1 to 3. 6. The first and second light emitting means are arranged to emit planar light beams at symmetrical angles to the right and to the left with respect to the traveling direction of the moving object, respectively. A position measuring device for a moving body according to any one of claims 1 to 5. 7. The first light emitting means is arranged so as to emit a planar light beam at an angle of approximately 45° to the right with respect to the traveling direction of the moving body, and the second light emitting means is arranged so as to emit a planar light beam at an angle of approximately 45° to the left with respect to the traveling direction of the moving body, according to claim 6. Device. 8. The first and second light emitting devices are arranged to emit planar light beams at asymmetrical angles to the right and left, respectively, with respect to the traveling direction of the moving body. Claim 1
6. A position measuring device for a moving body according to any one of Items 5 to 5. 9. The azimuth measuring means includes: a third light emitting means that emits a planar light beam perpendicular to the traveling direction of the moving body upward or downward; and a third light emitting means emitted from the third light emitting means to 1
or a third photodetector for detecting the light reflected by the second light reflecting means; and after the third photodetector detects the reflected light of the first light reflecting means, a second traveling distance measuring means for measuring the distance traveled by the mobile object until detecting the reflected light of the second light reflecting means; and a distance between the first and second light reflecting means. and a mounting interval generating means for generating the reference standard based on the running distance measured by the second running distance measuring means and the mounting interval information generated by the mounting interval generating means. 9. The position measuring device for a moving body according to claim 1, further comprising: an angle calculation means for calculating a deviation angle of the moving direction of the moving body with respect to the azimuth. 10 A third light reflecting means is provided between the first and second light reflecting means at a position shifted from the center thereof, and the direction measuring means is arranged such that the third photodetector is located between the first and second light reflecting means. a time width from receiving the reflected light of the light reflecting means to receiving the reflected light of the third light reflecting means; and a time width from receiving the reflected light of the third light reflecting means to the time of receiving the reflected light of the third light reflecting means; The movement according to claim 9, further comprising a sign determining means for determining whether the deviation angle calculated by the angle calculating means is positive or negative based on the magnitude of the time width until the reflected light of the means is received. Body position measuring device. 11. The position measuring device for a moving body according to any one of claims 1 to 8, wherein the azimuth measuring means is a gyroscope. 12. The moving body position measuring device according to any one of claims 1 to 8, wherein the orientation measuring means is a orientation magnet. 13. Claims 1 to 1, wherein the moving body is an object that moves on the ground or on the floor.
The position measuring device for a moving body according to any one of Item 2. 14. The moving body position measuring device according to any one of claims 1 to 12, wherein the moving body is an object that moves in the air.