JPS5927841B2 - Displacement posture measuring device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a displacement and orientation measuring device that is used in combination with a reference beam to determine displacement and orientation.

More specifically, this device is used when the axis is aligned with the axis of the moving body, and it is used to measure the vertical and horizontal displacement of the moving body with respect to the reference beam, as well as the posture (the moving direction axis of the moving body is the reference beam). It is possible to determine the vertical angle θ (pitch angle) and the horizontal angle Ψ (yaw angle). Conventionally, in order to measure the posture of a moving object that moves slowly forward, such as a tunnel excavator, a gyro device or an accelerometer that measures the horizontal component of the earth's gravitational acceleration to determine the angle of inclination is combined with a gyroscope. A transit device was used in conjunction with the device to measure vertical and horizontal displacement.

Devices using gyros are complex and require a lot of effort to maintain and repair due to deterioration of the rotating parts, and they also have the disadvantage that they cannot measure displacement and attitude at the same time even when used in conjunction with transit. An example of an improved conventional device is a device that uses a reference beam, but devices that output signals electrically are complex, and devices that are simple may not be able to output signals electrically. There were shortcomings. It is an object of the present invention to eliminate these drawbacks and to provide a simple device that can provide signals regarding the displacement and posture of a moving body electrically at the same time. That is, the displacement and orientation measuring device according to the present invention has a mirror fixed to the bottom of one end of the cylindrical body, and a rotating plate made of a transparent material that rotates in a plane parallel to the mirror at the opening side of the other end. , a device comprising a front light receiving section and a rear light receiving section in which a plurality of light receiving elements are linearly arranged from the center to the outer periphery on both sides of the rotary plate, wherein the cylindrical body is irradiated from the outside. The incident light of the reference beam and the reflected light of the incident light reflected by the mirror are detected by each of the light receiving parts, and the detected distance from the rotation center of the light receiving element and the rotation at the time of detection are detected. By outputting the rotation elapsed time from the zero point transmitter of the plate and the rotation period of the rotary plate as an electric signal, the vertical and horizontal angles of the attitude of the cylindrical body with respect to the reference beam, as well as the displacement in the vertical and horizontal directions. It is characterized by being able to measure quantities simultaneously. A basic embodiment of the present invention will be described in detail below with reference to the drawings.

FIG. 1 is a conceptual diagram for explaining its structure and operation. In the apparatus of this embodiment, the cylinder 1 is used as the cylindrical body,
It has a bottom 11 at one end and is open at the other end. A mirror 2 is fixed to the inner surface of the bottom part 11, and a rotary plate 3 provided parallel to the mirror 2 is provided on the other open end side. The rotary plate 3 is supported so as to be rotatable along the inner circumference of the cylinder 1, and is rotated at a constant speed by a drive device 4. The rotary plate 3 is made of a translucent material that allows light to pass through, such as resin glass, and has a front light receiving section 31 and a rear light receiving section 32 on both sides thereof, with their backs facing each other, in a straight line from the center to the outer periphery. It is provided in
The rotating plate 3 may have any other structure as long as it achieves its purpose. For example, an annular metal plate may be provided on the outer periphery, and a light-transmitting plate material may be provided on the diameter of the annular metal plate, and the light receiving portion may be provided thereon. The front and rear light receiving sections 31 and 32 are arrays of light receiving elements such as semiconductor elements such as photodiodes, and are designed to determine the distance from the center of rotation when they receive light and generate electrical signals. The power source for these light receiving elements and the wiring for sending and receiving the generated electric signals are taken out to the outside of the cylinder 1 using a slip ring (not shown) or the like provided on the rotary plate 3. The widths of the front and rear light receiving sections 31, 32 are made smaller than the width of the luminous flux of a reference beam A, e.g., a laser beam, which is used in conjunction with this device and irradiates in a certain direction, in order to conveniently receive reflected light. I'll keep it.
A zero point oscillator 51 is located on the outer peripheral surface of the rotary plate 3 at a portion sandwiched between the front and rear light receiving sections 31 and 32. A zero point receiver 52 is located on the inner peripheral surface of the cylinder 1 at a position facing the outer periphery of the rotating plate 3. When the rotating plate 3 rotates and the zero point transmitter 51 passes that position, an electrical signal is sent from the zero point receiver 52. Occur. A protective glass 6 is provided at the open end of the cylinder 1 to prevent dust from entering inside. Set the coordinate axis of cylinder 1 to X as shown in Figure 1.
axis (vertical axis), Y axis (horizontal axis), and Z axis (center axis), and the zero point receiver 52 of the cylinder 1 is placed on the X axis.
When the reference ray first enters along the Z-axis, that is, through the origin, that is, the rotation center 0 on the XY coordinate shown in figure b, the reflected light reflected by the mirror 2 also returns along the Z-axis and reaches the origin 0. . Next, when the cylinder 1 moves in the X-axis and Y-axis directions and rotates around the X-axis by a rotation angle V/(Y angle) and around the Y-axis by a rotation angle θ (pitch angle), the reference ray is Assume that the light is incident as shown in A of FIG. Nowadays, rotating plate 3
Let Tl be the time from when the zero point transmitter 51 passes the zero point receiver 52 position until the front light receiving section 31 receives the incident light due to the rotation, and let R1 be the distance from the light receiving element that received the light at that time to the center 0. Similarly, let T2 be the time until the rear light receiving section 32 receives the reflected light, and let R2 be the distance from the light receiving element that received the light at that time to the center 0. Further, the time (period) from when the rotary plate 3 rotates and the zero point transmitter 51 passes the position of the zero point receiver 52 until it passes again is T seconds. Since the rotating plate 3 rotates at a constant speed, T is constant. These are the coordinate positions Xl and Yl of the incident light on the rotating plate 3 and the position of the reflected light, and Xl and Yl are the displacement of the cylindrical body 1 with respect to the reference light beam.

Also, if the distance between the rotating plate 3 and the mirror 2 is L, θ=(X1
-X2)÷2L, F=(Yl, Y2)÷2L. T and L are constants, Tl, t2, Rl, R
2 is output as an electrical signal, so a simple electronic computer can be used to calculate Xl, Yl, X2, Y2 for each rotation of the rotary plate 3.
, θ, F are found. That is, it is possible to continuously obtain records of the displacement and posture of a moving object equipped with this device at extremely short intervals. This recording can also be used immediately as an electrical signal to control the displacement and posture of the moving body. In addition, the rotation angle φ (roll angle) of this device around the Z axis
In the case of rotation by a certain amount, a value on the tilted XY coordinates can be obtained, and correction can be made by easily converting the coordinates from that value to an upright XY coordinate using the rotation angle φ. Further, even when the rotation occurs around an axis parallel to the z-axis, it can be corrected by simple calculation. However, in order to determine the rotation angle φ, one inclinometer, such as an accelerometer, must be installed on a plane parallel to the X-axis and its electrical signal must be used. As another example, as shown in FIGS. 2A and 2b, the light receiving sections 31 and 32 are provided linearly on the diameter of the cylinder vertically or horizontally, and are moved horizontally or vertically in parallel at a constant speed to receive light. If the position is determined using either end as a reference, the position of the XY coordinate ground can be determined in the same manner as described above.

In this case, it goes without saying that the structure of the cylindrical body must be devised. Although a cylinder was used as the cylindrical body in these Examples, the present invention is not limited to a cylinder. As is clear from the above explanation, this device has a simple structure and can therefore be manufactured at low cost.Since the displacement and attitude signals can be obtained simultaneously and electrically, the device can be mounted using these signals. The control of a moving body can be used directly and continuously, and this can be kept as a digital record and used for later analysis of the movement of a moving body, so it has a wide range of applications and its advantages and effects are extremely large.

[BRIEF DESCRIPTION OF THE DRAWINGS] FIG. 1 is a conceptual diagram for explaining the structure and operation of a basic embodiment of the present invention, in which a is a side sectional view, b is a front view, and FIG. FIG. 3 is a conceptual diagram for explaining the movement of the light receiving section in the embodiment. DESCRIPTION OF SYMBOLS 1... Cylinder (cylindrical body), 2... Mirror, 31... Front light receiving part, 32... Rear surface light receiving part, A... Reference light beam.

Claims (1)

[Claims] 1 A mirror is fixed to the bottom of one end of the cylindrical body, and a rotary plate made of a transparent material that rotates in a plane parallel to the mirror is attached to the open side of the other end, and a rotary plate made of a translucent material that rotates in a plane parallel to the mirror; A device comprising a front light receiving section and a rear light receiving section each having a plurality of light receiving elements linearly arranged from the cylindrical body to the outer periphery, wherein the incident light of a reference beam irradiated from the outside of the cylindrical body and the incident light beam are The reflected light reflected by the mirror is detected by each of the light receiving parts, and the detected distance from the rotation center of the light receiving element, the elapsed rotation time from the zero point oscillator of the rotary plate at the time of detection, and By outputting the rotation period of the rotary plate as an electric signal, it is possible to simultaneously measure the vertical and horizontal angles of the posture of the cylindrical body with respect to the reference light beam, as well as the amount of displacement in the vertical and horizontal directions. Displacement posture measuring device.