JPH0259687A - Mobile position detection device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a device for detecting the movement position of a transport robot, an agricultural robot that works while moving, etc. in order to control the movement thereof.

<Conventional technology> Mechanization of agriculture is progressing in many countries in order to lower the price of agricultural products, and along with this, agricultural land development such as infrastructure development suitable for mechanization is progressing steadily in various parts of the world.

Additionally, along with mechanization, the demand for automation is also increasing.
Attempts are being made to allow agricultural robots to move and perform work using ginpiator control.

<Problems to be Solved by the Invention> In this case, in order to move the robot according to a preset operation mode, it is necessary to constantly check the current position of the robot.

Although various methods for detecting this type of movement position have been proposed in the past, there has been a problem in that the devices are generally too large-scale, resulting in a significant increase in cost.

The present invention has been developed in view of these conventional problems, and although it has a relatively simple configuration, it can easily and accurately detect the moving position of a moving object such as a robot at any time, and is useful for agricultural mechanization, etc. It is an object of the present invention to provide a moving position detection device that enables a large amount of prompting.

<Means for Solving the Problems> Therefore, as shown in FIG. A device for detecting the position of a body, wherein a laser transmitter is provided at the two points and transmits a laser signal while rotating an optical axis around the two points along a plane substantially parallel to the plane of movement of the moving body. , the mobile body is provided with a laser receiver that receives the laser signal, and
rotation angle detection means for detecting a rotation angle with respect to a reference direction when each laser signal is received by the laser receiver; and a rotation angle detection means for detecting a rotation angle with respect to a reference direction when each laser signal is received by the laser receiver; The configuration includes a position coordinate calculation means for calculating position coordinates.

Further, the rotation angle detection means includes, for example, a rotation angle information providing means that provides each laser signal with information on the rotation angle with respect to each reference direction, and a rotation angle information providing means that provides each laser signal with information on the rotation angle with respect to each reference direction, and a rotation angle information providing means that provides information on the rotation angle with respect to each reference direction to each laser signal, and a rotation angle information providing means that provides information on the rotation angle with respect to each reference direction, and a rotation angle information providing means that provides information on the rotation angle with respect to each reference direction, and a rotation angle information providing means that provides information on the rotation angle with respect to each reference direction. and reading means for reading rotation angle information.

In the above case, the rotation angle information providing means may be configured to provide rotation angle information by, for example, modulating a laser signal rotating at a constant speed with an angle signal obtained by time-sharing the rotation angle with respect to the reference direction.

Alternatively, the rotation angle detection means includes a timer for measuring the time required from when each of the laser signals coincides with the reference direction until it is received by the laser receiver of the moving body;
The rotation angle calculation means may be configured to calculate a rotation angle with respect to a reference direction from the required time measured by the time measurement means.

Further, in the above configuration, a reference direction calibration means may be included for detecting that each laser signal coincides with each reference direction and calibrating the reference direction.

Then, the reference direction calibration means may calibrate the reference direction of the signal, for example, when it is detected that the laser signal transmitted from the two points toward the other party's point is received by the other party.

Further, the reference direction calibration means is configured to cause the other party to receive a laser signal transmitted from the two points to the other party's point, and to receive a signal sent back from the other party to the own point at the own point. The reference direction of the signal may be calibrated when the signal is detected. In that case, the configuration may include, for example, a laser receiver that receives a laser signal transmitted from the other party at the two points, and an optical fiber that returns the laser signal received by the laser receiver to the other party. , the reference direction may be calibrated by detecting the returned laser signal. Alternatively, the two points are each provided with a reflecting mirror that reflects the laser signal emitted from the other's point, and a laser receiver that receives the laser signal reflected from the other's reflecting mirror, and the received laser signal is The reference direction may be calibrated by detecting the laser signal.

Further, the reference direction calibration means calibrates the reference signal of the laser signal when receiving the laser signal transmitted from the other party at one point, and causes the other party to receive the laser signal transmitted from the point, It may be configured to detect that a signal sent back from the other party to the own location is received at the own location.

Furthermore, the reference direction calibration means initially stops the rotation of the one laser signal when the laser signal is received, and restarts the rotation of the one laser signal when the other laser signal is received. , thereafter, two laser signals may be received simultaneously to calibrate the reference direction.

Further, in the case where the rotation angle is detected by timing as described above, the reference direction calibration means transmits the detection signal toward the moving object when it detects that the laser signal coincides with the reference direction. The detection signal may be configured to include a transmitting means for transmitting the detection signal, and a receiving means for receiving the detection signal on the mobile body side. In that case, the transmitting means may be a radio wave transmitter and the receiving means may be a radio wave receiver, or the transmitting means may be a strobe transmitter and the receiving means may be a strobe receiver.

Furthermore, in another invention that achieves the same object, as shown in FIG. The detection apparatus is provided with a laser transmitter that transmits a pulse-modulated laser signal while rotating the movable body along a plane substantially parallel to the plane of movement of the movable body, and the second A cylindrical reflecting mirror that reflects the laser signal emitted from the laser transmitter in the transmission direction is provided at each point, and a laser receiver that receives the reflected laser signal is provided on the moving body, and the laser transmitter distance calculation means for calculating each distance between the moving object and two points by detecting a pulse phase difference between a laser signal emitted from the device and a laser signal received by the laser receiver; The apparatus includes position coordinate calculation means for calculating position coordinates of the moving body with reference to the two points of the moving body from each distance between the body and the two points and the distance between the two points.

Furthermore, in the device that detects the movement position as described above, there is an operation mode input means that allows the moving body to freely input the trajectory of the target operation mode as position coordinates, and an operation mode input means that inputs the trajectory of the target operation mode as position coordinates to the moving body, and an input operation that is input every time the movement position of the object is detected. The configuration may include a feedback control means that performs feedback control of the drive system so as to compare the trajectory target position of the mode with the detected position and bring the moving body closer to the trajectory target position.

In this case, the feedback control means may include a moving direction determining means for determining the moving direction of the moving object, and a moving direction controlling means for controlling the moving direction of the moving object based on the determined moving direction. good. The moving direction determining means may be configured to, for example, determine the moving direction based on the current position and the previous position each time the self moving position is detected (or,
It may also be composed of a compass attached to a moving body. Furthermore, when the moving object deviates from the target trajectory in the operation mode, the moving direction control means determines which side of the moving direction it deviates from with respect to the target trajectory, and moves the moving object toward each deviated side. The configuration may be such that correction control is performed so that the angle between the moving direction of the target trajectory and the traveling direction of the target trajectory becomes a predetermined value. Or,
The movement direction control means may be configured to set a trajectory mode for causing the moving object to smoothly match the target trajectory, and to move the moving object in a direction along the set trajectory mode. Further, the movement direction control means sequentially inputs position coordinates of a new target trajectory each time its own movement position is detected according to the movement direction, and compares the most recently input position coordinates with the detected movement position. , the moving object may be moved in a direction closer to the target trajectory.

<Operation> Laser signals respectively emitted from two points rotate their optical axes around the respective points substantially parallel to the plane of movement of the moving object, and the rotation angle detection means detects when each of the laser signals coincides with the reference direction. Then, the rotation angle is detected until it is received by a laser receiver installed on the moving body.

By detecting the rotation angle of each of the laser signals, it is possible to know the angle between the direction connecting the two points and the laser receiver of the moving body. Based on these two angles and the distance between the two points, The position coordinate calculation means calculates the position coordinates of the moving body with two points as references.

Furthermore, when the rotation angle detection means is composed of a rotation angle information adding means and a reading means, the rotation angle information adding means adds information on the rotation angle with respect to the reference direction to the laser signal. The rotation angle can be detected by reading the rotation angle information given to the signal when it is received by the receiver using the reading means.

Further, if the rotation angle information providing means modulates the rotation angle with respect to the reference direction using a time-divided angle signal, the angle can be detected by counting the number of modulated pulses and the like with the reading means.

In addition, when the rotation angle detection means is composed of a time measurement means and a rotation angle calculation means, the time measurement means measures the elapsed time from when the reference direction of the laser signal rotating at a constant speed is calibrated to when the laser receiver receives it. The rotation angle can be detected by converting the measured time into a rotation angle using the rotation angle calculation means.

In addition, in the above-mentioned device in which a reference direction calibration means is added, the configuration is performed by detecting coincidence with the reference direction every time the laser signal rotates, so it is difficult to stably maintain movement position detection accuracy. can.

In that case, if the reference direction is to be calibrated when a laser signal transmitted from one point is received by the other party, a laser receiver or the like may be provided at each point and calibrated at the time of reception.

It is also possible to have the other party receive a laser signal emitted from one location, and calibrate when the other party sends it back to its own location. In that case, the laser receivers installed at two locations and the received signal can be calibrated. In the case of a device configured with a return optical fiber, by receiving a laser signal transmitted from the other party's point and sending it back through the optical fiber, calibration can be performed using the direction at which the laser signal was transmitted as a reference direction. Also,
In a system consisting of a reflector and a laser receiver installed at two locations, the laser signal transmitted from the other location is reflected by the reflector and received by the other party's laser receiver. The direction can be calibrated using the reference direction.

Further, the reference direction calibrating means calibrates the reference signal of the laser signal when a laser signal transmitted from the other party is received at one point, and causes the other party to receive the laser signal transmitted from the point, In a device configured to detect that a signal sent back from the other party toward the user's location is received at the user's location, the reference directions of the two laser signals are calibrated at one location.

In addition, if the device is equipped with the above-mentioned rotation angle detection means using time measurement, and is equipped with a transmitting means for transmitting a detection signal to the moving object as a reference direction calibration means, and a receiving means on the moving object side, the detection signal is transmitted on the moving object side. When the reference direction is received, the reference direction is calibrated, and time measurement starts from that point. If configured,
When the laser receiver receives a laser signal from the other party, it transmits radio waves to the mobile body, and when the mobile body receives the radio waves, the reference direction is calibrated. Further, a reflecting mirror provided at each of the two points, a laser receiver, and a radio wave transmitter,
When configured with a radio wave receiver installed on the moving object side, the laser signal reflected back from the mirror at the other point is received by the own laser receiver, and the radio wave is transmitted to the moving object by the radio wave transmitter. When this is received by the radio wave receiver on the mobile body side, the reference direction is calibrated. Also,
When configured with two laser receivers installed at only one point, a reflector installed at the other point, a radio wave transmitter that transmits different radio waves to the moving object, and a radio wave receiver on the moving object side. , one's laser signal is reflected back by the other's reflector and received by one laser receiver,
The laser signal from the other party is directly received by the other laser receiver, and different radio waves are transmitted from the radio wave transmitter, and when these are received by the radio wave receiver on the mobile body side, the reference direction is calibrated.

Furthermore, the reference direction calibration means initially stops the rotation of the one laser signal at the time when the one laser signal is received, and restarts the rotation of the one laser signal at the time the other laser signal is received. After that, 2
If the reference direction is calibrated by receiving two laser signals at the same time, the reference direction can be calibrated at the same time.Especially in the case of a device that detects the rotation angle by timing, only one type of radio wave transmitter or strobe transmitter can be used. The reference direction can be calibrated simply by transmitting a calibration signal.

Furthermore, in a structure in which a laser transmitter and a laser receiver are provided on the moving object side, cylindrical reflecting mirrors are provided at each of the two points, and distance calculation means and position coordinate calculation means are included, the movement A pulse-modulated laser signal is emitted from the body by a laser transmitter while rotating along a plane approximately parallel to the plane of movement of the moving object, and this is reflected by cylindrical reflecting mirrors at two points. and is received by the laser receiver of the mobile object. Based on the pulse phase difference between the received laser signal, the laser signal emitted from the laser transmitter, and the laser signal received by the laser receiver, distance calculation means calculates the distance between the moving object and two points. is calculated, and further, the position coordinate calculation means calculates the position coordinates of the moving body with reference to the two points of the moving body from each distance to the two points and the distance between the two points.

Furthermore, in the above-mentioned moving position detection device, if the moving object is configured to include an operation mode input means and a feedback control means, the trajectory of the target operation mode is input as the position coordinates, and the self Each time the movement position is detected, the drive system is feedback-controlled so as to compare the trajectory target position of the input operation mode with the detected position and bring the moving body closer to the trajectory target position.

In this case, if the feedback control means is configured to include a moving direction determining means and a moving direction controlling means,
While determining the moving direction of the moving object, the moving direction of the moving object can be controlled based on the determined moving direction. If the moving direction determining means is configured to determine the moving direction based on the current position and the previous position each time the self moving position is detected, the moving direction can be determined by software, but it is configured using a compass attached to the moving body. This allows the direction of movement to be detected with high accuracy. Further, when the moving object deviates from the target trajectory in the operation mode, the moving direction control means determines which side of the moving direction the moving object deviates from the target trajectory, and moves the moving object toward each deviated side. If the configuration is such that the angle between the moving direction of the target trajectory and the traveling direction of the target trajectory becomes a predetermined value, it is possible to ride the trajectory at a predetermined advancing angle, thereby suppressing overshoot. In addition, the movement direction control means,
If the configuration is such that the moving object is moved in a direction along the set trajectory mode, the moving object can be smoothly aligned with the target trajectory. Furthermore, the position coordinates of a new target trajectory are sequentially input to the movement direction control means according to the movement direction each time the own movement position is detected, and the most recently input position coordinates are compared with the detected movement position. If the configuration is such that the moving object is moved in a direction closer to the target trajectory, control can be easily performed.

<Example> Embodiments of the present invention will be described below based on the drawings.

In FIG. 3 showing the configuration of an embodiment, a laser signal control device 1.
2 are provided.

Now, explanation will be given with point A as the origin, the straight line direction connecting point A and point B as the y-axis, and the direction passing through the origin and perpendicular to the y-axis as the y-axis.

The agricultural robot 3, which is a mobile object, has A in the χ axis direction,
The movement is controlled within the range between B and a predetermined distance from the straight line AB in the y-axis direction along a predetermined trajectory mode to be described later. The robot 3 has integrated wheels and a handle driven by a motor, and can rotate 360 degrees at the same location when changing direction of movement.

As shown in FIG. 4, the laser signal control devices 1 and 2 have a laser transmitter 12 built into a box-shaped main body 11, and a laser signal is emitted upward from the laser transmitter 12.

A servo motor 13 is mounted on the upper part of the main body 11 with its rotating shaft facing downward, and a mirror 14 is fixed to the lower end of the rotating shaft with its mirror surface facing downward and tilted at an angle of 45 degrees with respect to the rotating shaft.

The laser signal transmitted from the laser transmitter 11 passes through a through hole 11a formed in the wall of the main body 11, hits a mirror 14, and is reflected in the horizontal direction. (For example, about 18
When the servo motor 13 is rotated at 0 rpm), a laser signal is also transmitted while rotating in the horizontal direction about the rotation axis of the servo motor 13.

Further, a laser receiver 15 is attached to the side wall of the main body 11 of each laser signal control device 1, 2, and has a light receiving surface facing each other and receives a laser signal transmitted from the other party. The laser signal received at 15 is sent back to the other party's laser signal control device 1.2 via an optical fiber 20.

The laser signal control device 1.2 is reset to 0° with the rotation angle direction of the laser signal as a reference direction each time it receives the laser signal transmitted from each and returned via the optical fiber 20. Then, as described later, a circuit that modulates and outputs the laser signal with a pulse code (for example, composed of 20 bits, 19 columns, etc.) that changes every unit rotation angle (for example, 0. (11 degrees)) is built-in. has been done.

On the other hand, a ball 21 is erected on the robot 3, and a laser receiver 22 is attached to the tip of the ball 21.

The laser receiver 22 has a diameter of 3 as shown in FIG.
A large number of condensing lenses 24 are arranged on the outer peripheral wall of a cylindrical case 23 of approximately c+a size, and the same number of optical fibers are placed inside the case 23 with their tips facing the focal point inside each lens 24. 25 is attached, and the lower end of the optical fiber 25 is converged so that the condensed light is input to a demultiplexer, which will be described later.

Incidentally, the number of lenses 24 is arranged in the vertical direction so that the robot 3 can receive the laser signal even if the robot 3 moves up and down due to the unevenness of the field in which the robot 3 moves.

A rod 26 is connected to the lower part of the laser receiver 22, as shown in FIG. At the same time, the weight 2B is connected to the lower end of the rod 26, and with this structure, even if the running robot 3 is tilted with respect to the horizontal plane, the laser receiver 22 is maintained in the vertical direction. In the laser receiver 22,
The robot 3 receives the laser signals a and b sent from the laser signal control devices 1 and 2, and determines the movement position of the robot 3 from the rotation angle information obtained from the laser signals and the distance between the two points A and B stored in advance. C(x.

y) and a control circuit for moving the robot 3 along a trajectory mode (for example, moving at about 1 m/s) based on the detected position, and other control circuits for agricultural work by the robot 3. There is a built-in circuit (description of which will be omitted) for this purpose.

Next, processing control of the laser signal by the laser signal control device 1.2 and movement position detection and travel control of the robot 3 based on the laser signal are performed based on the block circuit diagram shown in FIG. 7 and the flowchart shown in FIG. I will explain.

In FIG. 7, a laser signal a (or b) emitted from a laser diode 31 as a laser signal emitting element of a laser transmitter 12 of one laser signal control device 1 (or 2) is focused by a lens 32. After
It is reflected by the rotating mirror 14 and transmitted while rotating in the horizontal direction.

Then, this signal is directed in the direction of the substantially straight line AB to the laser receiver 2 of the other party's laser signal control device 2 (or 1).
When the signal is received by the laser signal controller 2, it is focused by the lens of the laser receiver 15 and then sent back to the laser signal control device 1 (or 2) on the transmitting side via the optical fiber 20.

When this returned signal is input to the O° signal generation circuit 33, the O'' signal generation circuit 33 controls the servo motor 13.
A signal (0
° signal) is output to the modulator 35. That is, each laser receiver 22. The optical fiber 25 and the O° signal generation circuit 33 constitute a reference direction calibration means.

The encoder 34 outputs the rotation angle data input from the servo motor 13 to the modulator 35, and based on this, the modulator 35 converts minute unit rotation angles, for example 0. (11
A laser diode 31 emits a signal modulated with a pulse code that changes every degree. That is, the encoder 34
．． The modulator 35 constitutes rotation angle information providing means.

FIG. 8 shows a flowchart of movement position detection performed on the robot 3 side and travel control based thereon. This routine is started by turning on the power to the robot 3.

When the power is turned on, initialization such as erasing data and setting a work area is first performed (S1 in the figure).

Next, when the laser signal a or b is received by the laser receiver 22 (S2), the laser signal a or b is focused by the lens 24, passes through the optical fiber 25, and passes through the demultiplexer (diffraction grating type). The light enters an optical demultiplexer (optical demultiplexer, dielectric multilayer optical demultiplexer, etc.) 36, and the laser signals a and b are separated by the demultiplexer 36 (S3). Furthermore, both signals a,
The wavelengths of both signals a and b are changed so that b can be separated.

The separated laser signals a and b are each sent to a photoelectric converter 3.
The pulse codes added to the signals a and b at 7A and 37B are photoelectrically converted (S4A and 34B), and the amplifiers 38A and 3
After being amplified by 8B (S5A, 35B), the decoder 39
The waveform is shaped by A, 39B (S6A, 36B),
The signal is inputted to the calculation unit 42 via the angle signal input unit 40, subjected to serial/parallel conversion (S7A, 37B) by the calculation unit 42, and then stored in the memory 43.

On the other hand, on the robot 3 side, the coordinates indicating the position of the field on the map, which are initial settings, the coordinates of two points A and B, and the trajectory of the operation mode, which is an indicator of the trajectory for the robot 3 to move. Input the coordinates and the start position of the robot 3 by key operation to the initial setting data input section 41.
The data is stored in the memory 43 via the arithmetic unit 42. As the operation mode, several types of modes are prepared, such as those shown in FIG. 9, for example, and one is selected from these and inputted. Here, the photoelectric converters 37A and 37B to the angle signal input section 4 (18) constitute the reading means.

The laser signal a stored in the memory 43,
The two angle signal data from b and the initial data are input to the calculation unit 42 (S9), and the calculation unit 42 calculates the movement position C (of the robot 3) based on these data as will be described later.
x, y) is calculated and detected (S10). here,
The circuit sections indicated by the numbers from the initial setting data input section 41 to the calculation result section 44 constitute a position coordinate calculation means. Moving position C
The calculation is performed as follows.

In FIG. 3, the movement position ifc (XI
.

y+) is the angle α between straight line AB and straight line AC, and straight line AB
It is expressed by the angle β between the line BC and the straight line BC, and the distance between the line AB and the line AB. When the laser signals a and b rotate in the direction of the arrow shown in the figure,
The angle signal is given by θ,, θ8, and α=360″−〇, β=θ.

First, the equation of the straight line AC is y = (tan α) 0X The equation of the straight line BC is y = (ltan α) - (x-L), (tan α) 'X+= (tan α) ・
(x+ −L)x, = L Italian α/ (t
an cr + tan β) Y + = L-tan t
x-tanβ/(tan α+tan β).

Incidentally, the distance between point A and point B is about 300 m or less, and the rotation angle information of laser signals a and b is set to 0. (The detection accuracy of the moving position when given every 11 degrees can be within about 5 to 60 C!1.

Next, in order to determine whether the robot 3 is on the target trajectory, the detected movement position C (x, y) of the robot 3,
The following calculation is performed to determine the positional relationship between the operating mode and the trajectory read from the data storage unit 43 to the calculation unit 42.

First, the deviation Δ between the detected moving position C and the target trajectory! In order to find the equation of the target trajectory.

Regarding the target trajectory, for example, as shown in Figure 10, the position coordinates of the four points (XI, )'+), (Xz, 3'z)
, (Xz, )'l).

If (x4.yn) is input, (x+, y+)
~CXt, yz) can be found by the following equation (Sll).

XZ　-X.

becomes.

Xz　-x.

Equation (1) becomes the following equation.

y=a x+b The equation of a perpendicular line drawn from the movement position C (Xc, yc) to the target trajectory straight line obtained as above is shown by the following equation.

y yc= (x xc)/a The coordinates (X) of the intersection of this perpendicular line and the target trajectory straight line.

Y) is calculated using the following equation.

However, when the target trajectory changes at right angles as shown in FIG. 13, the intersection point cannot be found when the robot 3 is in an area surrounded by an extension of the target trajectory (shaded area in the figure). Therefore, prior to this calculation, it is determined whether or not the Δl calculation is possible depending on whether the robot 3 is within the above area (S1
2).

When it is possible to calculate Δ2, the intersection point is calculated as follows to calculate Δl (313).

y=-(x-Xc)/a+yc=ax+b-
x/a+xc /a+yc =ax+bx (a+lna) =17a HXc + 3'c by=Y=a
X+b Therefore, the distance between the moving position C(x(, yc) and the intersection (X, Y), that is, the deviation Δ!, is expressed by the following equation.

Δti-((xc X)" + (yCY) 2)"
``Therefore, the deviation Δ2 obtained from the above formula is the detection accuracy of 5 to 60.
314), and when it is determined that it is outside the range, that is, that it is off the target trajectory, it moves to either the left or right side in the direction of travel with respect to the target trajectory. It is determined whether it is out of place (S15).

This is done as follows.

First, the latest detected position (Xn+l l )'II. I
) and last time? &(xn, yn) and the target trajectory y=
Coordinates of the intersection of the perpendicular lines drawn down to ax (X7゜1,
YFl+1)(X,,Y,,) is determined as described above.

a + l / a 71% = aX, 1 + b Y, 1++ = a X□, +b The following judgments are made using the coordinate data of the intersection.

■When the moving direction of the operating mode trajectory in the X direction is positive (a)
When a > O (see Figure 12(a)) X 1141
> When Xa*1, it is located on the right side of the target orbit,
When xti++ <x+'i, it is located on the left side of the target trajectory.

(b) When a < O (see (b) in the same figure) Xl. ,＞
When Xn+'+, it is located on the left side of the target trajectory, and
When R+l < Xn++, it is located on the right side of the target trajectory.

(c) When a = O (see (C) in the same figure))' n
When + 1 < Y n + +, it is located on the left side of the target trajectory, and when )' +S+l < Y, ++, it is located on the right side of the target trajectory.

■When the moving direction of the operating mode trajectory in the X direction is negative (a)
When a > (18) (see (d) in the same figure) X,, ++
>X, , or, the position is on the left side of the target trajectory, and
When n++ <Xn++, it is located on the right side of the target trajectory.

(b) When a < (18) (see (e) in the same figure)
i+I>X*. When it is 1, it is located on the right side of the target trajectory, and when X□1<Xy1*+, it is located on the left side of the target trajectory.

(c) When a = (18) (see (f) in the same figure) x,
When <X□1, it is located on the right side of the target trajectory, and when x7° and <Xfi+1, it is located on the left side of the target trajectory.

■When the operating mode trajectory does not move in the X direction (a) When the operating mode trajectory moves in the X direction ((6) in the same figure)
(See) When y□H>YR+1, it is located on the right side of the target trajectory, and when y□H<Yfi++, it is located on the left side of the target trajectory.

□□□) When the traveling direction of the operation mode trajectory in the X direction is negative (see figure (c)) Xfi+I >x. When it is 1, it is located on the left side of the target trajectory, and when x, , or <Xn++, it is located on the right side of the target trajectory.

Next, the opening angle θ between the traveling direction of the robot 3 and the traveling direction on the target trajectory (see FIG. 13, counterclockwise direction is positive) is calculated as follows (316, 319).

■For example, when the traveling direction of the operating mode trajectory in the X direction is positive, (a) Coordinates of the intersection with the perpendicular line (X-, Y, ,
.

Y, , , + ), when Xfi+1>X, l, then
n++ XFI x,,,
When X is 1, =180', X□+ -xn X□I Xn
When , +180' holds true both when and when . (See Figure 12 (j)).

(a) When the traveling direction of the operating mode trajectory in the X direction is negative, (a) X, , or +>Xa holds true (see FIG. 12(i)).

[Existence]) When X, 1 or <X7, X n + + X, IX n + + X
When n, (a) When the traveling direction of the operating mode trajectory in the X direction is positive and the coordinates of the intersection with the perpendicular line are Y,, I > Y, then
When fi◆I

The coordinates of the intersection with the perpendicular are Y7°.

〉Y7 When , X　1141　　X　n Together with the time of nu -X, l x　n◆small -x, 1 Xn middle school 1 Xfi holds true (see FIG. 12 (1)).

■Operation mode If the trajectory does not advance in the X direction, xfi◆1 Xh X fi * I X 1% holds true (see FIG. 12(n)).

(b) When the traveling direction of the operating mode trajectory in the X direction is negative, and when Y , , I > Y n at the coordinates of the intersection with the perpendicular line, )'--+ Vo > O, Xn◆
l X1%
.

X+I Xn holds true (see FIG. 12(0)).

In the coordinates of the intersection with the perpendicular line, Yfi+1>Y, when 1, if ゛″-7″> O, then Xg+1 xll y11 now r Yn θ=jan −' + 90 'x
, 1°, −X, 1 X +++I X n holds true (see FIG. 12(p)).

When the position is on the right side of the target trajectory, the opening angle θ is set to the set angle θ. (e.g. 5°) compared to 51
7), θ〈θ. At that time, operate the rudder of robot 3,
Rotate the robot 3 to the left (318), and θ≧θ. At this time, the robot 3 is turned to the right (S21). Incidentally, the angle that can be turned by one laser signal input is about 1 degree when the turning rotation speed is 30 degrees/second. During the rotation, the robot 3 continues to move, receives the laser signals a and b again, and continues the above operation.

Further, when the position is on the left side of the target trajectory, the opening angle θ is set to the set angle −θ. 320), θku−θ
. In this case, rotate robot 3 to the right (321).
, θ≧−θ. At this time, the robot 3 is turned to the left (31B). Note that the left and right turning speeds are the same.

By repeating such control, when the robot 3 deviates from the target trajectory, it moves 1θ with respect to the target trajectory.

Movement is controlled to maintain the set angle.

This setting angle θ. is set to a size that allows the moving speed of the robot 3 to return to the target trajectory sufficiently quickly without overshooting to the opposite side after matching the target trajectory.

On the other hand, when it is determined that the deviation Δl is within the detection accuracy range, after calculating the opening angle θ in the same way (322), θ
= 0 or not 523), if (18), the rudder is 0 to run without driving, if it is not 0, to determine whether the opening angle θ is positive or negative 524), if θ〉(18) The robot 3 is driven by the rudder 47 and the wheels 50.
is driven to turn the robot 3 to the right (S21), and if θ<, the robot 3 is similarly turned to the left (318).

Thereby, after getting on the orbit, the traveling direction of the robot 3 can be quickly made to coincide with the traveling direction of the orbit.

On the other hand, if the target trajectory changes at a right angle as described above, calculate the distance R between the corner coordinates (xp, yr) of the target trajectory and the current position (325), and use the corner as the center and set this R as the radius. (326), specifically, the wheels 50 may be driven at the same speed and the rudder 47 at the same steering angle within the shaded area in FIG.
The functions up to 324 correspond to feedback control means,
SLl~S17. S19, 320. S22～
The functions up to S24 correspond to the moving direction determining means, and the functions up to S24 correspond to the moving direction determining means.
．． 321. S25. The function 326 corresponds to the movement direction control means.

The movement control described above is performed by amplifying the calculation result obtained by the calculation section 42 as described above from the calculation result section 44 as a rudder drive instruction signal in the motor drive power amplification section 45, and then outputting it to the rudder operation motor 46. The rudder 47
This is done by manipulating the .

On the other hand, regarding the moving speed, after the motor drive instruction signal from the calculation result section 44 is amplified by the motor drive power amplification section 48,
The signal is output to the wheel drive motor 49 to drive the wheels 50.

To show another basic example of trajectory correction control, each time the movement position C (x, y) is detected in Fig. 14, the current position C = (Xz,)'i) and the previous position C1-
1(x5-++)'1-1), find the angle θ, -8 between the operating mode trajectory and the trajectory that robot 3 has moved, and calculate in which direction robot 3 is currently moving. Find out if there are any.

Also, the amount of displacement from the previous trajectory (the trajectory in this case)'=
3'o) y positive, -yo, and the current displacement y,
From Vo, if the amount of displacement is increasing, we know that we are moving away from the orbit, and if it is decreasing, we know that we are getting closer.

Based on the above results, the wheels 5 (18) change direction and move so as to approach the trajectory of the operation mode (the traveling direction is x>0). The calculation unit 42 that determines the moving direction and performs movement control constitutes a moving direction determining means and a movement controlling means.

Further, as shown in Fig. 15, when it is confirmed that the course has been changed to the operating trajectory mode direction during trajectory correction (at Ct (Xz, yt) in the example of Fig. 15),
The subsequent trajectories of C, , C, , C3, etc. may be set using the following equation, for example.

y x (1-e-X/''') ・(ys 7z
) a is a constant similar to a time constant, and is set first. According to this formula, the robot 3 shifts to the operating mode trajectory based on the corrective operating mode as described above. The arithmetic unit 42 that sets this correction trajectory mode constitutes trajectory mode setting means.

In addition, by setting a compass or the like constituting the movement direction determining means in the robot 3, the robot 3 can
It is possible to know in which direction the vehicle is running with respect to the reference positions of point and point B, and whether or not its running trajectory is on the operating mode on the map. That is, the direction in which the body of the robot 3 is facing can be easily known by comparing the direction magnet with the angle of the body.

As described above, in the example shown in FIG.

At the position y+), it is possible to know the angle θ between the direction of the vehicle body and the direction of the trajectory. Then, the vehicle body is rotated by θ+90° toward the trajectory of the operation mode, and the displacement amount is y.

After moving by yo, at the (xt, yo) position, rotate 90” counterclockwise, get on the orbit on the operating mode, and move x
>Move in the direction of O.

However, in this case as well, the correction trajectory may be set and corrected as described above.

Furthermore, as a simple method, each coordinate is inputted in the order in which it moves one after another on the map of the operation mode, and the robot 3 moves by chasing those coordinates in that order. .

In this case, even if the robot 3 deviates from the orbit, it will always proceed to the coordinates.

Next, in the same embodiment as above, another example of the reference direction calibration means for the laser signal will be explained based on FIG. 17.

In the figure, there are reflectors 16, 16' and laser receivers 17, 1, respectively, at different positions of the laser signal control device 1.2.
7' is attached, and the laser signal a (or b) transmitted from one laser signal control device 1 (or 2) after being reflected by the mirror 14 is transmitted to the other laser signal control device 2 in parallel to the substantially straight line AB. (or 1), it is reflected by the reflecting mirror 16° (or 16), and is reflected by the laser receiver 17 (or 17) of the laser signal control device 1 on the transmitting side.
′) and enters the light. This signal is input to the O° signal generation circuit 33, and thereafter calibration of the reference rotation angle direction is performed in the same manner.

Further, as another configuration of the rotation angle information providing means, the mirror 1
A stepping motor is used as the rotation motor of 4,
Set the step angle to 0. (One rotation is 3 times to make 11 degrees.)
In order to divide the pulse signal into 6,000 pulses, a single microstepper type may be adopted, one revolution is divided into 36,000 pulses, the mirror 14 is rotated once with 36,000 pulses, and at the same time the laser signal is modulated with the pulse signal.

Next, an embodiment of the invention in which the rotation angle is detected by time measurement will be described.

18(A), (B) and FIG. 19 showing this embodiment, the laser signal control device 1.2 set at two points A and B includes a stepping motor as a motor for rotating the mirror 14. A motor 13 is used, and the laser transmitter 2 is connected to a laser diode 3 as shown in FIG.
1 and a lens 32, and since rotation angle information is not provided, unmodulated laser signals a and b are emitted.

In addition, similar to what is shown in FIG. A radio wave transmitter (H8, 18" including an antenna is attached) that outputs radio waves of the wavelength towards the robot 3. In this case, the radio wave transmitter 18 at point A receives the laser signal from point B, The radio wave for setting the O° signal for the reference direction calibration is transmitted, and the radio wave transmitter 18'' at point B receives the laser signal a from point A.
Radio waves for setting the O degree signal for calibrating the reference direction will be transmitted. In addition, similar to the one shown in Fig. 14, a reflector 16.16'' is provided to receive the transmission signal from the own point that is reflected at the other party's point, and to transmit radio waves from the own point. You can also use it as

The robot 3 is equipped with a radio wave receiver 61 that receives the radio waves transmitted from the radio wave transmitter 18.18 degrees, and the rotation angle of the laser signals a and b is determined by measuring the time after receiving the radio waves. A circuit for detecting this is provided as shown in FIG.

To explain the operation, what is emitted from the laser signal control device 1゜2 are unmodulated laser signals a and b. For example, one laser signal a has a red wavelength, and the other laser signal has an infrared wavelength. Signals of different wavelengths are used. These laser signals a, b are not particularly synchronized.

Laser signal a (or b) is transmitted to the laser receiver 17°
(or 17), the signal is sent to the 0° signal generation circuit 33 to create a 0° signal, and the stepping motor 13°13 is reset each time the 0@ signal is received, and the radio wave Radio waves are transmitted from the transmitter 18° (or 18) toward the robot 3.

Next, movement position detection on the robot 3 side (movement control of the robot 3 based on position detection is the same as in the previous embodiment, so explanation thereof will be omitted. The same applies hereinafter) will be explained according to the flowchart of FIG.

After initialization (S31), the radio wave receiver 61 on the robot 3 side that receives the radio wave for setting 0'' uses a waveform shaping circuit 62A for point A and point B depending on the wavelength.

62B and the oscillators 63A and 63B (S32.533), L, -user signal control device w1.
On the 2nd side, the laser signals a and b are synchronized with the 0° setting radio wave. Therefore, the transmitter 6 synchronizes the count numbers of the counters 64A and 64B on the robot 3 side with the radio waves.
Taken at 3A, 63B (S34A, 334B).

On the other hand, waveform shaping circuits 62A and 62B perform shaping (S3
5A, 335B) is sent to the counter 64A.

64B, the counters 64A, 64B are reset and start counting clock pulses oscillated from the oscillators 63A, 63B (S36A, 3).
36B). This count value is sequentially stored in the memory 43. Here, waveform shaping circuits 62A, 62B to counter 6
Circuit sections indicated by numbers 4A and 64B constitute timekeeping means.

On the other hand, the laser signal a (or b) received by the laser receiver 22 of the robot 3 is transmitted to the amplifier 38A (or 38B).
), the waveform is shaped by the waveform shaping circuit 66A (or 66B).

Then, the waveform-shaped laser signal a (or b)
is output to the data storage unit 67A (or 67B) (S37A, 337B), the data storage unit 67A (or 67B) stores the count value of the counter 64A (or 64B) at that time as rotation angle data. 538A
, 338B), and outputs the data to the calculation section 42 via the angle signal input section 40.

In this case, the reference direction of the laser signal is calibrated and then (
0° signal input), the count value (elapsed time) until the laser signal is received by the laser receiver 22 on the robot 3 side is set as CP, and constant speed rotation (for example, 1808 rpm)
When the count value (rotation period) corresponding to one rotation of the stepping motor 13, 13' is set to 00, the rotation angle θ with respect to the reference direction can be determined as θ=360°×C'F/Co (S39A).

339B).

Based on the detection data of the rotation angle θ and the initial data, the movement position of the robot 3 is calculated in the same manner as in the previous embodiment (340).

Next, in the same embodiment as above, another example of the reference direction calibration means for the laser signal will be explained based on FIGS. 21 and 22.

The laser signal control device 1 is equipped with a reflector 16 that reflects the laser signal a, but is not equipped with a laser receiver.On the other hand, the laser signal control device 2 receives the other party's laser signal a, and A laser receiver 19 is installed at a position where it can receive its own laser signal reflected by the other party's reflector 16, and when receiving these laser signals a and b, radio waves of different wavelengths are sent to the robot 3. A radio wave transmitter 51 that outputs signals toward the target is attached. Note that since the two types of laser signals a and b are received by one laser receiver, costs can be reduced.

The robot 3 includes a receiver 61 that receives radio waves transmitted from the radio wave transmitter 51, and a circuit that detects the rotation angle of the laser signals a and b by measuring the time after receiving the radio waves. This circuit and its operation are the same as those shown in FIG. 19, so the explanation will be omitted.

This embodiment is advantageous in terms of cost because it suffices to provide the radio wave transmitter at one location. However, radio wave transmitter 5
1 requires a circuit that discriminates between reception of laser signals a and b and transmits radio waves of different wavelengths.

Therefore, at the beginning, two laser signals a.

2. transmit the same signal by adjusting so that it is received at the same time. FIG. 23 shows an embodiment in which the reference directions of two laser signals a and b are calibrated simultaneously. still,
The configuration of the laser signal control device is the same as that shown in FIG. 22 except for the configuration of the internal circuit of the radio wave transmitter. The drive control circuit for the stepping motor 13.13'' is partially different as will be described later.

First, in this example, there are two laser signals a.

In order to rotate b at the same phase and speed, the following initial adjustments are made. Initially, laser signals a and b rotate at the same speed but are not synchronized.

In this state, when the laser signal b emitted from point B is reflected by the reflector 16 at point A and received by the laser receiver 19 at point B, the stepping motor 13° at point B stops rotating once. The rotation of the laser signal is also stopped. This means that the rotation angle of the laser signal is set to 0°.

After that, when the continuously rotating laser signal a is directly received by the laser receiver 19 on the side of point B, the signal from the encoder 72 is inputted by the arithmetic circuit 71 for controlling the rotation angle and phase of the stepping motor 13°. The driving of the stepping motor 13' is restarted, and the rotation of the laser signal is restarted. As a result, the laser signals a and b are 180°
From now on, each time the laser signals a and b are received simultaneously, the arithmetic circuit 71
Radio waves are transmitted from the robot 3 to the radio receiver 61 of the robot 3 via the radio transmitter 51'. Furthermore, the laser signal a,
The rotation direction of b may be the same or opposite.

In this way, the radio wave transmitter 51' only needs to transmit radio waves of one wavelength, which further reduces costs.

Although the two laser signals a and b are received at the same time and the reference direction is calibrated at the same time, the movement position detection operation on the robot 3 side will be described with reference to the flowchart shown in FIG. 24.

After initialization (S51), when the radio wave from the radio wave transmitter 51'' is received by the radio wave receiver 61 (S52), this signal is waveform-shaped by the waveform shaping circuit 73 and then (
S53), is input to the counters 64A and 64B, resets the count value to O, and starts counting (S54)
).

Then, when laser signal a (or b) is received (
S55. 556) ), counter 64A (or 64
B) stops counting the clock pulses from the oscillator 75, and stores the count value in the data storage unit 65A (or 65B).
) (S57A, 357B).

From then on, the count value should be converted to angle data.558A
, 358B), and use these data to calculate the movement position (S
59) is similar.

In addition, by stopping the transmission of radio waves during the phase adjustment prior to the reference direction calibration, the robot 3 side can correct the rotation angle of the laser signal based on the judgment result of the two-number circuit 75 that compares the laser signal and the strobe signal. Knowing this, all drives of the robot 3 including the drive source are stopped.

In addition, in the above example, the phase difference between laser signals a and b is 180
' However, as shown in FIG. 1, a reflector 16' is installed and adjusted so that when the own laser signal a is directed in the direction of the straight line AB force on the opposite side from A to B, it is reflected and received by the laser receiver 19' on the B side. Then, as above, two laser signals a.

The reference direction may be calibrated by adjusting so that the signals b and b are received at the same time. In this case, the two laser signals a and b rotate at the same phase and at the same speed.

Further, in an apparatus that performs similar phase adjustment, a configuration may be adopted in which a strobe transmitter and a strobe receiver are used instead of the radio wave transmitter and radio wave receiver.

FIG. 26 shows an embodiment using such a strobe signal type reference direction calibration means, in which the strobe transmitter 76 includes A, B
It is installed at a midpoint between the points, and is driven by a signal from the arithmetic circuit 71, similar to the case of a radio wave transmitter, and emits a strobe signal at a wide angle toward the robot 3. On the other hand, on the robot 3 side, as shown in FIG. 27, a strobe receiver 77 for receiving the strobe signal is connected to the upper surface of the laser receiver 22, and a strobe receiver 77 for receiving the strobe signal is connected. It is equipped with a circuit that detects the rotation angle of the laser signals a and b by time measurement. The strobe receiver 77 is composed of a lens and a strobe light receiving element.

In this way, the structure using the strobe signal is simpler than that of the radio wave type, and the cost can be further reduced.

Next, a description will be given of an embodiment of the invention using a method different from the above-described method of detecting a moving position by detecting a rotation angle.

In FIG. 28 showing the configuration of this embodiment, a laser range finder 81 is equipped on the robot 3 side. Here, the laser range finder 81 is maintained in the vertical direction by a support structure similar to that shown in FIG. The laser range finder 81 has a built-in laser transmitter 82 similar to the laser signal control device, and transmits the laser signal C emitted from the laser transmitter 82 to the motor 8.
3, it is reflected by a rotating mirror 84 and rotated in the horizontal direction.

When the emitted laser signal C is reflected by cylindrical reflecting mirrors 85 set at points A and B,
The signal is returned toward the laser range finder 81 and received by a laser receiver 86 built into the laser range finder 82 .

The laser range finder 81 includes the laser transmitter 82,
Including the circuit of the laser receiver 86, other processing circuits include a circuit as shown in FIG. 29, and the operation of this circuit will be explained below.

The laser transmitter 81 includes an H, -N, or semiconductor laser 91, an amplitude modulator 92, and a transmission optical system 9 such as a lens.
A frequency signal formed by adjusting the signal from the crystal oscillator 94 by a frequency divider or synthesizer 95 is input to the amplitude modulator 92 to form a laser signal C having a predetermined frequency pulse. Output.

At the same time, the frequency signal is mixed with a signal from a beatdown local oscillator 97 by a mixer 96 and then input to a phase difference measuring circuit 98 .

On the other hand, the reflected laser signal C is transmitted to the laser receiver 8.
from the receiving telescope 99 constituting the interference filter 100.6.
Amplifier 1 (via 11, beatdown local oscillator 97
After being mixed with the signal from the mixer 1 (12), the signal is input to the phase difference measuring circuit 98.

The phase difference measurement circuit 98 measures the difference between the phase of the laser signal at the time of oscillation and the phase when it is reflected and received. Distance LA from receiver 86.

L, is calculated by the calculation circuit 103.

The arithmetic circuit 103 further calculates the movement position C (X, y) of the robot 3 (laser receiver 86) by a calculation described later based on the data of the path MLA, L and the distance between AB inputted in advance. This is determined as described below.

For the angle α shown in FIG. 28, CO3cx= (a” +L” −b”) /2 ・
a −L holds true.

,',x=aCO3α= (at+L"-b")/
2 ・Ly = asIN a= a (1-(CO3
α)2) “”=a (1-(x/a)”) “”.

This device only requires one laser transmitter and one laser receiver, and there is no need to calibrate the reference direction unlike the rotation angle detection method.

<Effects of the Invention> As explained above, according to the first basic invention of the present invention, the rotation angle with respect to the reference direction is determined from the rotating laser signals respectively transmitted from two points toward the moving body into the laser signals themselves. This can be detected using the provided rotation angle information or by measuring the elapsed time from the time of reference signal calibration, and from this and the distance between two points, the moving position of the moving object can be detected easily and with high precision.

In addition, each invention related to the reference direction calibration means and rotation angle detection means accompanying the first basic invention includes a laser receiver 9 reflecting mirror, an optical fiber, a radio wave transmitter, a radio wave receiver,
A strobe transmitter, a strobe receiver, etc. can be used to accomplish this function.

According to the second basic invention, on the contrary, a rotating laser signal is transmitted from the moving body side, and the phase at the time of the transmission and the phase of the signal reflected by the cylindrical reflecting mirrors set at two points are Based on the difference, the moving position of the moving body can be easily and highly accurately detected from each distance between the moving body and two points and the distance between the two points, as in the first invention.

As a result, the moving position of a moving body such as a robot can be easily and highly accurately detected at all times, thereby greatly promoting agricultural mechanization.

In addition, regarding the movement control method of the moving object, good movement control can be performed using the various methods described above. For example, when the movement direction deviates from the target trajectory, it approaches the target trajectory while maintaining a predetermined angle. Then, it is possible to quickly follow the target trajectory while suppressing overshoot after matching the trajectory, or it is possible to set a trajectory mode until reaching the target trajectory and smoothly approach the target trajectory.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the configuration of the first basic invention of the present invention, FIG. 2 is a block diagram showing the configuration of the second basic invention, and FIGS. FIG. 8 is a flowchart showing the control routine of the above embodiment, and FIG. 9 shows various operation modes of the robot in the above embodiment. 10 to 16 are diagrams for explaining the movement position correction control method of the robot, FIG. 17 is a diagram showing the configuration of each part according to the second embodiment, and FIG. 18 (A), (
B) , FIGS. 19 and 20 are respectively a configuration diagram 2 circuit diagram, a flowchart of a control routine, and a 2nd circuit diagram according to the third embodiment.
Figure 1. 22 is an overall configuration diagram and a partial configuration diagram of the fourth embodiment, respectively. FIGS. 23 and 24 are a circuit diagram and a flowchart of a control routine of the fifth embodiment, respectively. FIG. 25 is a diagram of the sixth embodiment.
FIG. 26 is a partial configuration diagram of the embodiment. FIG. 27 is an overall configuration diagram and a partial configuration diagram of a seventh embodiment, and FIGS. 28 and 29 are an overall configuration diagram and a circuit diagram of an embodiment of the second basic invention. 1.2...Laser signal control device 3...Robot 12.82...Laser transmitter 13...Servo motor 13''...Stepping motor 14.8
4...Mirror 15.17.17°, 19.22
...Laser receiver 16.16', 19.1
9'...Reflector 18.18"51...Radio wave transmitter 20...Optical fiber 33...0° signal generation circuit 34.73...Encoder 35...
Modulator 36... Brancher 37A, 37B
...Photoelectric converter 38A, 38B...Amplifier
39A, 39B...Decoder 40...Angle signal input section 41...Initial setting data input section 42.
...Arithmetic section 43...Initial setting data storage section 4
4... Calculation result section 61... Radio wave receiver 62
A, 62B, 66A, 66B, 75... Waveform shaping circuit 63A, 63B, 74... Oscillator
64A, 64B...Counter 65A, 65
B...Data storage section 71...Arithmetic circuit 75...
-Several circuits 76... Strobe transmitter 77...
・Strobe receiver 81...Laser range finder
83...Motor diagram 1

Claims (22)

[Claims] (1) A device for detecting the position of a moving body moving on a substantially flat surface including two points within a predetermined range from two points having a certain distance, the moving object moving to and around the two points. In addition to providing a laser transmitter that transmits a laser signal while rotating an optical axis along a plane substantially parallel to the plane of movement of the body,
A rotation angle detection means for providing a laser receiver for receiving the laser signal in the moving body, and for detecting a rotation angle with respect to a reference direction when each laser signal is received by the laser receiver; 1. A mobile position detection device comprising: position coordinate calculation means for calculating position coordinates of a moving body with reference to two points based on the distance between the two points. (2) The rotation angle detection means includes a rotation angle information provision means for providing each laser signal with information on the rotation angle with respect to each reference direction, and a rotation angle information provision means for providing each laser signal with information on the rotation angle with respect to each reference direction, and a rotation angle information provision means for providing each laser signal with information on the rotation angle with respect to each reference direction, and a rotation angle information provision means for providing each laser signal with information on the rotation angle with respect to each reference direction, and a rotation angle information provision means for providing each laser signal with information on the rotation angle with respect to each reference direction. The moving position detecting device according to claim 1, further comprising a reading means for reading rotation angle information. (3) The movement according to claim 2, wherein the rotation angle information imparting means imparts rotation angle information by modulating a laser signal rotating at a constant speed with an angle signal obtained by time-sharing the rotation angle with respect to the reference direction. Position detection device. (4) The rotation angle detection means includes a timer for measuring the time required from when each laser signal coincides with the reference direction until it is received by the laser receiver of the moving body; 2. The moving position detection device according to claim 1, further comprising rotation angle calculation means for calculating a rotation angle with respect to a reference direction from the required time. (5) The apparatus is characterized in that it includes a reference direction calibrating means for detecting that each laser signal coincides with each reference direction every rotation and calibrating the reference direction.
4. The moving position detection device according to any one of 4. (6) The reference direction calibrating means calibrates the reference direction of the signal when it is detected that the laser signal transmitted from the two points toward the other party's point is received by the other party. The mobile position detection device described. (7) The reference direction calibration means causes the other party to receive a laser signal transmitted from the two points to the other party's point, and receives a signal sent back from the other party to the own point at the own point. 6. The moving position detecting device according to claim 5, wherein the reference direction of the signal is calibrated when detecting this. (8) The reference direction calibration means includes a laser receiver that receives a laser signal transmitted from the other party at the two points, and an optical fiber that returns the laser signal received by the laser receiver to the other party. 8. The moving position detecting device according to claim 7, wherein the reference direction is calibrated by detecting the returned laser signal. (9) The reference direction calibration means includes a reflecting mirror that reflects laser signals transmitted from the other point to the two points, respectively;
8. The mobile position detection device according to claim 7, further comprising a laser receiver that receives a laser signal reflected from a mirror of the other party, and calibrates a reference direction by detecting the received laser signal. . (10) The reference direction calibration means calibrates the reference signal of the laser signal when a laser signal transmitted from the other party is received at one point, and causes the other party to receive the laser signal transmitted from the point. 6. The moving position detecting device according to claim 5, wherein the mobile position detecting device calibrates the reference direction of the signal when it detects that the signal sent back from the other party towards the own point is received at the own point. (11) Initially, the reference direction calibration means stops the rotation of the one laser signal when receiving the one laser signal, and restarts the rotation of the one laser signal when the other laser signal is received. 6. The moving position detecting device according to claim 5, wherein the reference direction is calibrated by simultaneously receiving two laser signals. (12) The reference direction calibration means includes a transmitting means that transmits the detection signal to the moving object when it is detected that the laser signal coincides with the reference direction, and a receiving means that receives the detection signal to the moving object. The moving position detection device according to any one of claims 5 to 11, comprising: (13) The moving position detection device according to claim 12, wherein the transmitting means is a radio wave transmitter and the receiving means is a radio wave receiver. (14) The mobile position detection device according to claim 12, wherein the transmitting means is a strobe transmitter and the receiving means is a strobe receiver. (15) A device for detecting the position of a moving object moving on a substantially flat surface including two points within a predetermined range from two points having a certain distance, the device detecting the position of a moving object that moves on a substantially flat surface including these two points, A laser transmitter is provided that transmits a pulse-modulated laser signal while rotating along a plane substantially parallel to the plane of movement of the body, and the laser signal transmitted from the laser transmitter is transmitted to each of the two points in the transmission direction. A moving body is provided with a cylindrical reflecting mirror that reflects the light and a laser receiver that receives the reflected laser signal, and the laser signal transmitted from the laser transmitter and the laser signal received by the laser receiver are provided. distance calculation means for calculating each distance between the moving object and two points by detecting a pulse phase difference between the moving object and the two points; 1. A mobile position detection device comprising: position coordinate calculating means for calculating position coordinates of a moving body with reference to two points on the body. (16) The moving body compares the trajectory target position of the input operation mode and the detected position with the operation mode input means, which is free to input the trajectory of the target operation mode as position coordinates, and each time its own movement position is detected. The moving position detecting device according to any one of claims 1 to 15, further comprising a feedback control means for feedback controlling the drive system so as to move the moving body closer to the target trajectory position. (17) Claim 16, wherein the feedback control means includes a moving direction determining means for determining the moving direction of the moving object, and a moving direction controlling means for controlling the moving direction of the moving object based on the determined moving direction. The mobile position detection device described in . (18) The moving position detecting device according to claim 17, wherein the moving direction determining means determines the moving direction based on the current position and the previous position each time the moving position is detected. (19) The moving position detection device according to claim 17, wherein the moving direction determining means is a compass mounted on the moving body. (20) When the moving body deviates from the target trajectory in the operation mode, the moving direction control means determines which side in the traveling direction the moving body deviates from the target trajectory, and moves toward each deviated side. Claims 17 to 10 are corrected and controlled so that the angle between the moving direction of the body and the advancing direction of the target trajectory becomes a predetermined value.
20. The moving position detection device according to any one of 19. (21) Any one of claims 17 to 19, wherein the movement direction control means sets a trajectory mode for causing the moving object to smoothly match the target trajectory, and moves the moving object in a direction along the set trajectory mode. The moving position detection device according to item 1. (22) The movement direction control means sequentially inputs the position coordinates of a new target trajectory each time its own movement position is detected according to the movement direction, and compares the most recently input position coordinates with the detected movement position. The moving position detecting device according to any one of claims 17 to 19, wherein the moving body moves in a direction that brings the moving body closer to a target trajectory.