System for measuring the position of a moving body

• US 4,818,107 A
• Filed: 11/30/1987
• Issued: 04/04/1989
• Est. Priority Date: 05/21/1986
• Status: Expired due to Fees

• Current Assignee: Kabushiki Kaisha Komatsu Seisakusho (Komatsu Ltd.)
• Original Assignee: Kabushiki Kaisha Komatsu Seisakusho (Komatsu Ltd.)
• Inventors: Ono, Yoshihisa, Ono, Toyoichi, Sakanishi, Shoichi, Ichimura, Yasuhiko
• Primary Examiner(s): EVANS, FANNIE L
• Application Number:
  US07/157,504
• Time in Patent Office: 491 Days
• Field of Search: 356/1, 356/152, 356/373, 356/375, 356/376, 340/988-992, 340/995, 73/146
• US Class Current: 356/622
• CPC Class Codes: E02F 3/847 using electromagnetic, optical or acoustic beams to determine the blade position, e.g. laser beams
• CPC Class Codes: G01C 15/004 Reference lines, planes or sectors
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves

Abstract

In the present invention, a first and a second projector means projecting rotating laser beams rotating at a predetermined period are disposed at two predetermined fixed points, respectively. A first, a second and a third photodetection means are disposed on a moving body to detect the photodetection timings with which laser beams are detected, and to detect photodetection height positions of the rotating laser beams. The rotating angles of the two rotating laser beams from the reference azimuth are calculated on the basis of the outputs from the first, second and third photodetection means, and the positions and heights of the respective photodetection means are calculated from these data. Thus are the position and attitude angle of the moving body are measured with high accuracy, and these data are displayed on a real-time basis. In order to measure the rotating angles of the two rotating laser beams from the reference azimuth with high accuracy, two photodetection means are disposed on a straight line connecting the first and second projector means to thereby detect the respective reference azimuths of the rotating laser beams with high accuracy, to thereby improve the position measuring accuracy.

Claims

1. An apparatus for measuring the position of a moving body such as a vehicle, characterized by:

first and second projector means installed at two preset fixed positions for projecting rotating laser beams, respectively, rotating at a fixed period;

first, second and third photodetection means disposed on the moving body for detecting the photodetection timings with which laser beams are detected and photodetection height positions of the rotating laser beams;

rotating angle calculating means for calculating first and second rotating angles of the rotating laser beams from the first and second projector means upon detection of the laser beams on the basis of the photodetection timings detected by the first photodetection means, third and fourth rotating angles of the rotating laser beams from the first and second projector means upon detection of the laser beams on the basis of the photodetection timings sensed by the second photodetection means, and fifth and sixth rotating angles of the rotating laser beams from the first and second projecting means upon detection of the laser beams on the basis of the photodetection timings detected by the third photodetector means;

first calculating means for calculating a first, a second and a third coordinate positions, on a certain x-y-z-coordinate system, of the respective photodetection positions in the first, second and third photodetection means on the basis of the spacing between the first and second projector means, and the first and second rotating angles, third and fourth rotating angles and fifth and sixth rotating angles, calculated by the rotating angle calculating means; and

second calculating means for calculating the longitudinal tilt angle, lateral tilt angle and azimuth of the moving body on the basis of the respective spacings among the first, second and third photodetection means, the photodetection height positions detected by the respective photodetection means and the first, second and third coordinate positions calculated by the first calculating means.

2. An apparatus for measuring the position of a moving body according to claim 1, including third calculating means for calculating the x-y-coordinate position of a point representative of the moving body on the basis of at least one of the photodetection height positions detected by the first, second and third photodetection means, at least one of the x-y-coordinate positions calculated by the first calculating means, and the longitudinal tilt angle, lateral tilt angle and azimuth of the moving body calculated by the second calculated means;

and

fourth calculating means for calculating the z-coordinate position of the point representative of the moving body on the basis of the z-coordinate position of the rotating laser beams, at least one of the photodetection height positions sensed by the first, second and third photodetection means, and the longitudinal tilt angle and lateral tilt angle of the moving body calculated by the second calculating means.

3. An apparatus for measuring the position of a moving body according to claim 2, wherein the first, second and third photodetection means are each a one-dimensional semiconductor position sensing unit standing at a predetermined position on the moving body.

4. An apparatus for measuring the position and attitude angle of a vehicle according to claim 2, including memory means for sequentially storing the calculated x-y-coordinate positions of the points representative of the vehicle, and map output means for creating and displaying a map on the basis of the x-y-z-coordinate positions stored in the memory means.

5. An apparatus for measuring the position of a moving body according to claim 4, wherein gthe memory means stores only the latest 3-dimensional positions when the 3-dimensional positions has the same x-y-coordinate positions.

6. An apparatus for measuring the position of a moving body, such as a construction vehicle operating in a construction site where work is to be done, comprising:

3-dimensional position measuring means for sensing the position of the moving body;

means for calculating a terrain of a construction work site on the basis of the 3-dimensional position information of the moving body from the 3-dimensional position measuring means, and converting the calculated terrain into height information of the terrain;

memory means for storing the height information of the terrain output from the calculating means;

display means for displaying the height information as map data on a display screen, rewriting the map data on the display screen on a real-time basis on the basis of the height information output at any time and indicating the current position of the moving body on the work site; and

work control means for feeding back the height information as finish information of the work site to the moving body or an operator of the moving body.