JP4154430B2 - Method and apparatus for detecting the position of a transmission source - Google Patents

Description

  The present invention relates to a method and apparatus for detecting the position of a light source and maintaining the distance from the source with only a small number of parts and a simple control circuit.

  Conventionally, various methods for detecting the position of the measurement object and maintaining the distance to the position have been provided. However, the detection is performed using a distance measuring device composed of complicated optical system detection means and arithmetic circuits. Met. By using such a distance measuring device, it is possible to accurately calculate the distance to the measurement object, but there is a problem that the cost increases as the number of parts increases. For this reason, there is a problem that it is difficult to adopt such a distance measuring device in terms of cost for a product such as a toy that does not require high distance measuring accuracy. In these cases, the distance in front of the distance measuring device can be measured, but it is not suitable for detecting where the light source is located around the distance measuring device. For this reason, there is a problem that it is not suitable from the viewpoint of cost and technology to create a device that tracks a specific light source.

  Therefore, Japanese Patent Laid-Open No. 61-253482 proposes a tracking robot that tracks a moving object without using the complicated optical system detection means described above. The present invention discloses a detection method and apparatus for detecting and tracking the direction of a moving object based on the intensity of light received by a plurality of optical sensors arranged on the circumference of light emitted from the moving object. However, in the present invention, there is a problem that a large number of optical sensors are required to detect the direction. In addition, even if the azimuth can be detected, it is impossible to maintain a constant distance from the moving object after the detection.

JP-A-61-253482

The problem to be solved by the present invention is that the position of the light source is determined in units of regions with only a small number of parts and a simple control circuit, without using a distance measuring device consisting of complicated optical system detection means and arithmetic circuits. It is an object of the present invention to provide a method or apparatus for detecting the position of a light source that can be detected as :

In addition, by incorporating a recognition device that employs the recognition method into a tracking device that has a driving means and that can perform a desired movement operation, the movement is controlled so that the defined position in front of the tracking device and the transmission source are aligned. At the same time, it is intended to provide a method and apparatus that keeps the distance from the light source constant.

The means taken by the present invention to solve the problem is to recognize one of the following areas (I) to (V) by the movement of two light receiving elements arranged at an interval and It is characterized in that the position of the transmission source is detected.
(I): an unrecognizable area (dead angle) surrounded by the following areas (II) and (III) between the two light receiving elements and in front of the light receiving element;
(II): An area that can be recognized only by the light receiving element arranged on the left side,
(III): An area that can be recognized only by the light receiving element arranged on the right side,
(IV): An area that can be recognized by both light receiving elements,
(V): An area where both the two light receiving elements other than (I) to (IV) cannot be recognized.

Two light receiving elements, a driving device and a control circuit are provided, the two light receiving elements are arranged at intervals, and the following areas (I) to (V) recognized by the movement of the light receiving elements are set. And the control circuit controls the movement of the light receiving element so that the specified position matches the transmission source.
(I): an unrecognizable area (dead angle) surrounded by the following areas (II) and (III) between the two light receiving elements and in front of the light receiving element;
(II): An area that can be recognized only by the light receiving element arranged on the left side,
(III): An area that can be recognized only by the light receiving element arranged on the right side,
(IV): An area that can be recognized by both light receiving elements,
(V): A region where the two light receiving elements other than (I) to (IV) cannot be recognized.

  According to the present invention, by combining two light receiving elements, the position of the light source can be detected based on the unit of area. In addition, by providing a driving device and a control circuit, the position of the light source can be detected and controlled so that the specified position matches the light source without using a complicated distance measuring device. . Furthermore, the distance between the light source and the tracking device can always be kept constant by controlling the movement with the movement of the source.

  Preferred embodiments of the present invention will be described in detail below. The present invention relates to a method for detecting the position of a light source based on a unit of area by combining two light receiving elements, a method for aligning the position of a light source with a specified position in front of the light receiving element, and the detection. The present invention relates to a method and an apparatus for maintaining a distance from a transmission source. As the light source (hereinafter simply referred to as a source), for example, a light source that emits infrared light having a specific wavelength in a non-directional manner is preferable. The transmission source may be provided with moving means so that it can move in any direction. In addition, an apparatus that detects the transmission source and maintains the distance from the transmission source (hereinafter simply referred to as a tracking device) receives infrared rays emitted from the transmission source by the two light receiving elements and is defined according to the light reception state. A control circuit for processing is incorporated.

  The light receiving element provided in the tracking device may be any light receiving element that can recognize light emitted from the transmission source, and is arranged at an appropriate interval so that at least a part of the light receiving range of the two light receiving elements overlaps. At this time, between the two light receiving elements and immediately before the tracking device, both the two light receiving elements are made to be an unrecognizable region (dead angle). For example, in the case of a light receiving element capable of recognizing an angle of about 180 degrees, the unrecognizable region is created by arranging the light receiving elements so as to expand at an angle of several degrees to several tens of degrees. I can do it. Further, the same effect can be obtained even if two light receiving elements having an acute angle range as a recognition range are arranged. Preferably, an unrecognizable region is provided in front of the light receiving elements by disposing a light shielding plate that restricts a part of the light receiving range in the vicinity of the light receiving elements capable of recognizing a relatively wide light receiving range.

  In order to create an unrecognizable area in front of the light receiving elements by arranging the light shielding plate, a range in which the light receiving element is originally capable of receiving light in the vicinity of each of the two light receiving elements arranged at appropriate intervals. A light-shielding plate for restricting a part of the screen is provided. For example, in the case of a light receiving element arranged on the left side of the tracking device, a light shielding plate is arranged in the vicinity of the right side of the light receiving element, thereby providing a limited range of several tens of degrees in the original light receiving range and making the light receiving range asymmetrical. Due to the presence of this light receiving restriction, it is possible to obtain a light receiving element whose light receiving range is a substantially fan-shaped range spreading leftward and left-symmetrically when viewed from the center of the element. In addition, the right light receiving element is arranged in the opposite position, that is, in the vicinity of the left side of the element to provide a light receiving restriction area so that the light receiving range is asymmetrical, and a substantially fan-shaped light receiving area extending rightward in front of the light receiving element. .

  In this way, by arranging two light receiving elements having an asymmetrical light receiving range at an interval, in the front of the tracking device, 1. between the two light receiving elements and in an unrecognizable region (dead angle) in front of the light receiving element (I 2) Area where only the left light receiving element can receive light (II), 3. Area where only the right light receiving element can receive light (III), 4. Area where both light receiving elements can receive light (IV), 5. It is possible to create five areas other than (IV), that is, the area (V) where the two light receiving elements cannot be recognized. In the present invention, by using these areas (I) to (V), the position of the transmission source can be detected in units of areas without using various distance measuring devices conventionally used. In order to create these five regions, the light receiving elements are arranged so as to expand at an angle of several degrees to several tens of degrees as described above, or two elements that receive light in a sharp angle range are arranged. However, in order to determine the variation in performance of the light receiving element and the size of the region (I) to be created, a method of arranging a light shielding plate is most suitable.

  In addition, a device that employs a method for detecting the position of the transmission source is incorporated in a tracking device equipped with a drive device, and transmission is performed by performing operations such as advance / retreat / turning predetermined for each region. The source can be aligned with the specified position in front of the tracking device, and even if the transmission source moves and deviates from the specified position, the distance to the transmission source is maintained by always performing the forward, backward, and turning operations. I can do it.

  Below, a method for actually detecting the position of the transmission source in units of areas, a procedure until the transmission source is aligned with the specified position in front of the tracking device, and a distance from the transmission source are maintained after the alignment with the specified position. A method for this will be described with reference to the drawings.

  FIG. 1A shows a conceptual diagram of the present invention, in which (1) shows a main body of a tracking device, and light receiving elements (2a) and (2b) are arranged at intervals on the front surface (hereinafter simply referred to as the left side). The left light receiving element is the left sensor, the right light receiving element is the right sensor, and both are collectively referred to as the sensor). (3) is a light shielding plate, which limits the light receiving range of the light receiving element (2). FIG. 2 is a conceptual diagram of a control circuit provided in the tracking device, in which the light receiving elements (2a) and (2b) are connected to the CPU (4) and a drive circuit (4) is connected. . The CPU (4) determines the light receiving state of the light receiving elements (2a) and (2b) and operates the drive circuit based on the control flowchart to move the tracking device forward, backward, and rotate. FIG. 3 is a control flowchart incorporated in the CPU (4).

  The procedure until the tracking device aligns the transmission source with the specified position will be described below. As described above, the tracking device (1) is provided with two sensors (2a) and (2b) having a limited light receiving range at an interval. As shown in the figure, for example, the left sensor (2a) has a right recognition limit line by the shading plate (3a) where the original recognition limit range is from the left recognition current line (L1) to the right recognition limit line (L2). Is limited to (L3), so that the light receiving element (2a) has a light receiving range between (L1) and (L3). Similarly, the right sensor (2b) has a light reception range from the left recognition limit line (R1) to the right recognition limit line (R2), but the left recognition limit line is limited to (R3) by the shading plate (3b). As a result, the light receiving element (2b) has a light receiving range between (R3) and (R2).

  In this way, by arranging the light receiving elements (2a) and (2b) limited in a part of the light receiving range by the light shielding plate (3) at an interval, the following five when viewed from the front in front of the light receiving element. A recognition area can be created. Region (I) An unrecognizable region (dead angle) between two sensors (2a) and (2b), in front of the sensor, region (II), a region where only the left sensor (2a) can receive light, region (III) Area where only the right sensor (2b) can receive light, area (IV) area where the left and right sensors (2a) and (2b) can simultaneously receive light, area (V) left and right sensors on the side and rear of the tracking device ( 5a and 5b are five areas where light cannot be received. Thus, the position of the transmission source can be easily detected in units of areas.

  The CPU (4) captures the position of the transmission source in units of regions from the light receiving states of the left and right sensors (2a) and (2b), and performs a preset operation for each region. The operation set for each area is as follows. Operation in the area (I): The backward movement is performed until both the left and right sensors (2a) and (2b) receive light. Operation in region (II): Turn left until the right sensor (2b) receives light. Operation in region (III): Turn right until the left sensor (2a) receives light. Operation in region (IV): Advances until both sensors (2a) and (2b) stop receiving light. Operation in the region (V): The turning operation is performed on the spot until one of the left and right sensors (2a) and (2b) receives light.

  Now, the procedure when the transmission source is at the position (T) in FIG. 1 behind the tracking device will be described. The CPU (4) confirms the state of the left and right sensors (2a) and (2b) (step 101), and if the left and right sensors do not receive light from the transmission source (step 201), It is checked whether or not (IV) has been reached (step 202). In this case, since there is no such record, it is determined that the transmission source exists in the region (V) (step 203), the driving device (5) is driven, and the tracking device is turned on the spot (step 204). The turning operation may be either right or left, and can be set in an arbitrary direction in advance. In the illustrated driving device, the two motors are driven independently and the tracking device is moved. However, any driving device may be used as long as it can perform forward / backward / turning operations.

  Taking the case where the turning operation is a left rotation as an example, the position of the transmission source (T) moves in an arc shape from the left to the right with the tracking device as a center by the turning. When the transmission source moves to the position of (T1), the CPU (4) that recognizes that the left sensor (2a) has received light (step 301) determines that the transmission source is in the region (II) (step 302), A left-turning motion defined in the region (II) is performed (step 304).

  As the left-turning operation continues, the transmission source further moves in an arc shape (T2). Here, while the left sensor receives light, the right sensor also receives light, and the CPU (4) that recognizes this light reception state (step 501) inquires whether or not the region (I) has been reached in the past ( step502). Since there is no record of reaching the area (I) by the operation so far, it is determined that the transmission source is in the area (IV) (step 503), the rotation operation is stopped, and the forward operation is performed (step 504).

  By performing the forward movement, the transmission source moves linearly from (T2) to (T3). Due to the linear motion, the right sensor (2b) cannot recognize the transmission source, and only the left sensor (2a) recognizes. Recognizing this (step 301), the CPU (4) determines that the transmission source is in the region (II) (step 302), and performs the left turn operation defined in this region as described above (step 303).

  The left turn operation causes the transmission source to move in an arc shape around the tracking device and reach (T4). Here, the right sensor (2b) recognizes the transmission source again, and both sensors (2a) and (2b) recognize the transmission source (step 501). Similarly to the case where the CPU (4) determines that it has reached the area (IV) (step 501), the CPU (4) inquires whether or not the area (I) has been reached (step 502). It is determined that the source is in the region (IV) (step 503), and the forward movement operation (step 504) is performed. That is, the driving operation performed when the transmission source is shifted from (T1) to (T2) and then (T3) is repeated. By repeating this turn → forward → turn several times, the transmitter moves in a substantially zigzag manner along the left light receiving range limit (R3) of the right sensor (2b), and then both sensors (2a) (2b ) Reaches a position that cannot be recognized (T6).

  At the position of (T6), both the sensors (2a) and (2b) cannot recognize the transmission source (step 201), and the CPU (4) inquires whether or not the transmission source has reached the region (IV) (step 202 ) As described above, since the fact that the transmission source has reached the region (IV) is recorded, it is next determined whether or not the backward movement is performed for a certain time or more (step 205). This decision is made when the source moves as will be described later, when the source has moved to a place other than the area (I), or when the transmission is stopped, the source is lost and the backward movement is performed. This is to prevent it from continuing. When the backward movement is not performed for a certain period of time, it is determined that the transmission source is in the area (I) (step 206), the arrival at the area (I) is recorded, and the drive device is moved backward (step 207). . If it is determined in step 205 described above that the backward movement has been performed for a predetermined time or more, it is determined that the transmission source does not exist in the region (I) but exists in the region (V) (step 203). At the same time, the area arrival record so far is deleted.

  The transmission source moves to (T7) by the backward movement described above, and the left and right sensors (2a) and (2b) recognize the transmission source again (step 501). Subsequently, an inquiry is made as to whether or not the region (I) has been reached (step 502), and it is determined that the transmission source is at the point (X) based on the fact that the region (I) has been recorded as described above (step 505). The operation of the driving device (5) is stopped (step 506). This point (X) is the defined position where the tracking device aligns the source.

  This is the procedure and operation for recognizing the position of the transmission source and aligning it with the specified position in front of the tracking device. The position of the point (X) can be easily changed depending on the length of the light shielding plate (3). That is, the point (X) can be set at a position away from the tracking device by extending the light shielding plate (3) long in front of the light receiving element, and can be set near the tracking device by shortening the protrusion. I can do it. When the light receiving elements are installed so as to be expanded without using the light shielding plate (3), the position of the point (X) can be changed by adjusting the expansion angle. In other words, when the angle of expansion is small (the angle difference between the two sensors is small), the point (X is closer to the device), and when the angle is large (the angle difference between the two sensors is large), the point (X ) Is determined.

  In the above description, the tracking device is turned left and the first light reception is performed by the left sensor.However, when the operation when it is determined that the transmission source is in the region (V) is the right turn, The sensor that receives the light source first becomes the right sensor (2b), and the subsequent operation is symmetrical with the above description, i.e., the region (L3) while moving on the right visible range (L3) of the left sensor. The movement of the driving device (5) stops when the movement to point (X) and then movement to point (X).

  Next, a procedure and operation for maintaining the distance from the transmission source after the transmission source and the specified position are aligned will be described. Assume that the transmission source itself has moving means, and as shown in FIG. 1B, the transmission source has moved from the point (X) to, for example, (T11) in the region (III). At this position, the left sensor (2a) cannot be recognized and only the right sensor (2b) is recognized (step 401), and the CPU (4) recognizes that the transmission source is in the region (III) (step 402). Then, the process shifts to the right turn operation (step 403).

  The transmission source moves to (T12) by the right turn operation. Here, both sensors (2a) and (2b) cannot be recognized (step 201). The CPU (4) inquires whether or not the transmission source has reached the region (IV) in the past (step 202), and determines that the transmission source is in the region (I) from the fact that there has been an arrival record in the above operations. Then (step 206), the process shifts to the backward movement (step 207). By this backward movement, the transmission source moves away from the tracking device, and eventually only the right sensor (2b) is recognized or both sensors (2a) and (2b) recognize at the same time. If only the right sensor (2b) recognizes (step 401), it is determined that it is in the region (III) in the same manner as described above (step 402), and shifts to a right turn operation (step 403). If both sensors (2a) and (2b) recognize at the same time (step 501), it is determined that the point (X) has been reached (step 505) after the arrival record inquiry to the region (I) (step 502). Stop (step 506).

  In this way, the tracking device can maintain the distance from the source by aligning the source again with point (X). Thereafter, even if the transmission source moves, the transmission source and the tracking device maintain a certain distance in order to always match the transmission source with the point (X) by performing the operation specified in the flowchart as described above. Keep doing.

  In the present invention, two light receiving elements having a limited light receiving range are used, and five regions are provided in front of the tracking device, and a prescribed operation is performed for each region, thereby easily recognizing the position of the transmission source and the tracking device. It is possible to align the forward specified position with the transmission source, and even if the transmission source moves, the transmission is performed by continuously performing the specified operations such as forward, backward, and turn set for each area as described above. The source can be easily aligned to the position of the point (X), and as a result, a tracking device that keeps track of the source can be obtained. Even if two light receiving elements are installed so as to expand each other without using a light shielding plate, the same operation is performed if five regions can be created around the tracking device. I can do it.

  FIG. 4 shows an embodiment of the present invention, which comprises a transmission source (10) and a tracking device (12). The transmission source (10) has a built-in infrared irradiation device (11), which is attachable to the human body as a whole, and is fixed to the ankle or the like with a band, for example. The tracking device (12) has the shape of a dog-shaped toy, and includes a light receiving element (13) combining two sensors, a moving means (14) capable of performing a desired operation, and a control circuit (not shown). Built in.

  The light receiving element (13) built in the tracking device (12) is composed of two sensors that limit the light receiving range in the same manner as described above, and thereby, five recognition areas are formed in front of the tracking device (12). Forming. The control circuit determines where the transmission source is located in these five areas and controls the driving device to thereby transmit the transmission source to a specified position in front of the tracking device (the position of the point (X) in the above description). The tracking device (12) is moved so as to align them. In addition, when the transmission source (11) moves, the tracking device (12) moves so as to always match the specified position with the transmission source, and as a result, the person wearing the transmission source (10) continues to be followed. You can get a dog-shaped toy.

  FIG. 5 shows another embodiment of the present invention, which comprises a transmission source (21) and a tracking device (24). The transmission source (21) incorporates an infrared irradiation device (22) and driving means (23). The tracking device (24) includes a light receiving element (25), a driving device (26), and a control circuit (not shown). Also, an infrared tracking device (27) capable of emitting infrared rays toward the rear of the device is incorporated.

  With such a configuration, a toy can be obtained in which the tracking device (24) tracks the transmission source (21) as in the first embodiment. In this embodiment, since the infrared irradiation device (27) is built in the tracking device (24) in particular, the tracking device (24 ′) is arranged as described above by placing another tracking device (24 ′) nearby. The tracking device (24) tracking the source (21) is recognized as a transmission source, and an operation of tracking this can be performed. By placing another tracking device (24 ''), it is now possible to track the tracking device (24 '), resulting in a source (21), tracking devices (24) (24') (24 '') Can get a toy that moves in a line.

  In the first and second embodiments, a dog-type toy for chasing a person and a toy for chasing a parent duck by a small duck are taken as an example, but the present invention is not limited to this. Needless to say, there is no limitation on the shape of the tracking device provided with the transmission source having the moving means and the driving device. Moreover, it is not limited to a toy.

  FIG. 6 shows still another embodiment of the present invention, which is applied to a competitive toy. In this example, unlike the first and second embodiments, the competitive toy (31) has both a transmission source and a tracking device. That is, it has a schematic structure as shown in FIG. The competitive toy (31) is equipped with two light receiving elements (32a) and (32b), and recognizes the light emitted from the transmission source in the same manner as described above while aligning the transmission source with the specified position (34) in front of the device. Try to.

  Since this competitive toy (31) is also provided with an infrared irradiation device (33) as a transmission source, the tracking device itself functions as a transmission source for another competitive toy. By providing both functions, when the opposing toy (31) starts the tracking operation in the facing state as shown in FIG. 7, the opposing toy (31) is opposed by the light receiving state of each light receiving element (32). The counter-type toy (31) is operated to align with the specified position (34).

  In addition, when one or both of the fighting toys (31) move, in order to always align the light emitted by the facing fighting toy (31) to the specified position (34), The toys (34) always face each other. In this embodiment, after recognizing the facing state, a toy that performs a more interesting operation can be obtained by performing another operation other than the tracking operation.

  For example, after a certain period of time has elapsed from the opposing state, after moving backwards, moving in the direction of the opposing toy type to attack the opponent, an operation avoiding the opponent's approaching action Etc. are considered. Even in such a case, it is always possible to make a judgment based on the area, and in the former movement, the forward movement is performed after recognizing that the transmission source moves from the specified position (34) to the area (IV). Can be done. Moreover, in the latter movement, when the opponent cannot be recognized even though he / she is not moving, that is, when it is recognized that he / she has entered the area (I), the backward / turning operation may be performed. It is.

  As described above, in this embodiment, it is possible to expect a higher level of operation than in the first and second embodiments. However, detection of the location of the transmission source is made by two light receiving elements. This can be done in only five areas, and no complicated distance measuring circuit is required. Needless to say, the present invention is not limited to a fighting toy, and any toy or device may be used. In addition, although a set of two examples has been given, it is naturally possible to operate three or four or more devices (which serve as a transmission source and a tracking device) at the same time, and is not particularly limited. .

It is a conceptual diagram of the present invention and a diagram showing a movement until alignment with a specified position It is a conceptual diagram of the present invention, and shows a movement after being aligned to a specified position Block diagram of the tracking device Flow chart showing the operation of the tracking device Figure showing an example The figure which shows another Example The figure which shows another Example. Schematic diagram in Example 3

Explanation of symbols

(1) Tracking device
(2a) Left light receiving element
(2b) Right light receiving element
(3a) Left shading plate
(3b) Right shading plate
(4) CPU
(5) Drive device
(10) Source
(11) Infrared irradiation device
(12) Tracking device
(13) Light receiving element
(14) Driving means
(21) Tracking device
(22) Infrared irradiation device
(23) Drive device
(24) Tracking device
(25) Light receiving element
(26) Drive device
(27) Infrared irradiation device
(31) Competitive toy
(32) Light receiving element
(33) Infrared irradiation device
(34) Specified position

Claims (7)

One of the following areas (I) to (V) is recognized by the movement of two light receiving elements arranged at an interval, and the position of the light source is detected using the area as a unit. A method of detecting the position of a light source to be used.
(I): An unrecognizable area (dead angle) surrounded by the following areas (II) and (III) between the two light receiving elements and in front of the light receiving element,
(II): An area that can be recognized only by the light receiving element arranged on the left side,
(III): An area that can be recognized only by the light receiving element arranged on the right side,
(IV): An area that can be recognized by both light receiving elements,
(V): An area where both the two light receiving elements other than (I) to (IV) cannot be recognized. Two light receiving elements are arranged at an interval, and one of the following areas (I) to (V) is recognized by the movement of the light receiving elements, and the position of the light source is detected in units of these areas. An apparatus for detecting the position of a light source characterized by that.
(I): an unrecognizable area (dead angle) surrounded by the following areas (II) and (III) between the two light receiving elements and in front of the light receiving element;
(II): An area that can be recognized only by the light receiving element arranged on the left side,
(III): An area that can be recognized only by the light receiving element arranged on the right side,
(IV): An area that can be recognized by both light receiving elements,
(V): An area where both the two light receiving elements other than (I) to (IV) cannot be recognized. Two light receiving elements, a driving device and a control circuit are provided, the two light receiving elements are arranged at intervals, and the following areas (I) to (V) recognized by the movement of the light receiving elements are set. The position of the light transmission source is detected in units, and the control circuit controls the movement of the light receiving element so that the specified position matches the transmission source. Aligning device with.
(I): an unrecognizable area (dead angle) surrounded by the following areas (II) and (III) between the two light receiving elements and in front of the light receiving element;
(II): An area that can be recognized only by the light receiving element arranged on the left side,
(III): An area that can be recognized only by the light receiving element arranged on the right side,
(IV): An area that can be recognized by both light receiving elements,
(V): A region where the two light receiving elements other than (I) to (IV) cannot be recognized. 4. The apparatus according to claim 3 , wherein the light receiving range is asymmetrical by arranging a light shielding plate in the vicinity of the light receiving element. 5. The apparatus according to claim 3, wherein the light emitted from the light source is an infrared ray having a specific wavelength.   A toy using the device according to claim 2.   The toy according to claim 6, wherein the toy is a battle-type toy that can move independently.