JPH0396863A - Ground speed indicator - Google Patents
Ground speed indicatorInfo
- Publication number
- JPH0396863A JPH0396863A JP23357189A JP23357189A JPH0396863A JP H0396863 A JPH0396863 A JP H0396863A JP 23357189 A JP23357189 A JP 23357189A JP 23357189 A JP23357189 A JP 23357189A JP H0396863 A JPH0396863 A JP H0396863A
- Authority
- JP
- Japan
- Prior art keywords
- circuit
- ground
- speed
- signal
- imaging device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000003384 imaging method Methods 0.000 claims description 24
- 238000005259 measurement Methods 0.000 abstract description 6
- 238000000034 method Methods 0.000 description 11
- 230000000694 effects Effects 0.000 description 4
- 230000001934 delay Effects 0.000 description 2
- 230000003111 delayed effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
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- Traffic Control Systems (AREA)
Abstract
Description
【発明の詳細な説明】
(イ)産業上の利用分野
この発明は自動車、電車、作業用機械等の路面上を走行
する交通、移動の手段に於いて、これらの移動物体の対
地移動速度を検出する対地速度計に関する。[Detailed Description of the Invention] (a) Industrial Application Field This invention is applicable to vehicles, trains, work machines, and other means of transportation and movement that run on road surfaces, and to calculate the speed of movement of these moving objects over the ground. Regarding the ground speed meter to be detected.
(口)従来の技術
従来、移動体の対地移動速度を移動体自身が測定する方
法としては、犬別して二つの方法が使用されてきた。そ
のーは接触型の方法で自動車を例にとれば、自動車の邪
動輪とある一定の比率をもって回転する何等かの部分の
回転数を測定して、馳動輪の単位時間当りの回転数、即
ち自動車の速度を計測する方法である。その二は非接触
型の方法で、移動体の上に超音波発信子等をおき、移動
体の進行方向にやや下にむけて超音波を発信し、返って
くる反射波のドプラー効果を利用して、移動体の対地移
動速度を計測する方法である。前者は現用の自動車等で
汎用的に使用されている方法であるが、特殊な条件下、
例えば自動車等のブレーキテスト時、凍結路面の走行時
等では脂動輪のスリップ、ロックアップ等によって正確
な対地移動速度を計測することが困難であり、また後者
では路面の凹凸に伴って移動体が上下動を起こし、正確
な対地移動速度を計測することが困難な場合があるなど
、問題点、欠点が少なくなかった。(Example) PRIOR TECHNOLOGY Conventionally, two methods have been used for measuring the speed of a moving object over the ground, depending on the type of dog. Taking a car as an example, this method uses a contact method to measure the number of rotations of some part that rotates at a certain ratio to the wheel of the car, and calculates the number of rotations per unit time of the wheel. This is a method of measuring the speed of The second method is a non-contact method, where an ultrasonic transmitter is placed on top of the moving object, emits ultrasonic waves slightly downward in the moving direction of the moving object, and uses the Doppler effect of the reflected waves that return. This is a method of measuring the ground moving speed of a moving object. The former is a method commonly used in modern automobiles, etc., but under special conditions,
For example, when testing the brakes of a car or driving on a frozen road surface, it is difficult to accurately measure the ground speed due to slippage and lock-up of the wheels. There were many problems and shortcomings, such as vertical movement and the difficulty of accurately measuring ground movement speed.
(ハ)発明が解決しようとする課題
この発明は従来とは全く異なる原理に基ずく非接触型の
対地移動速度計測方式によって、接触型方式のもつスリ
ップ等による不規則な誤差を全く除去し、非接触型方式
における路面の凹凸に伴う、移動体の上下動に基ずく不
規則な誤差を除去し、正確な対地移動速度を計測するこ
とを目的とする。(c) Problems to be Solved by the Invention The present invention uses a non-contact type ground movement speed measurement method based on a completely different principle from the conventional method, completely eliminating irregular errors caused by slips etc. that are present in the contact type method. The purpose of this method is to eliminate irregular errors caused by the vertical movement of a moving object due to unevenness of the road surface in non-contact methods, and to accurately measure ground movement speed.
(二)課題を解決するための手段
まずこの発明の原理的構或を図面にもとづいて説明すれ
ば次の通りである。まず第1図において1−Aはある時
点におけるビデオカメラ等の撮像装置による撮像画面、
1−Bは撮像装置自身が第上図に示す矢印の進行方向に
移動したときの撮像画面である。次に第2図において土
はビデオカメラ等の撮像装置、2、3、はl、からの信
号を蓄積するフレームメモリ等の記憶回路、4は2、3
、の出力信号を遅延させる遅延回路、5は2、3、の出
力信号と4、の出力信号を比較する比較回路、6は4、
の出力信号により演算を行う演算回路、7、8、9、は
それぞれ切替スイッチ、10、は6、の出力端子である
。(2) Means for Solving the Problems First, the principle structure of the present invention will be explained as follows based on the drawings. First, in FIG. 1, 1-A is an image taken by an imaging device such as a video camera at a certain point in time;
1-B is an image capture screen when the image capture device itself moves in the advancing direction of the arrow shown in the upper figure. Next, in FIG. 2, soil is an imaging device such as a video camera, 2 and 3 are storage circuits such as a frame memory that accumulate signals from l, and 4 is a storage circuit such as a frame memory that stores signals from 2 and 3.
, 5 is a delay circuit that delays the output signal of , 5 is a comparison circuit that compares the output signal of 2 and 3 with the output signal of 4, 6 is a comparison circuit of 4,
7, 8, and 9 are respective changeover switches, and 10 is an output terminal of 6.
(ホ)作用
この発明はビデオカメラ等の撮像装置を移動体の下面に
路面に向けて取り付け、移動体の移動に伴う撮像結果の
移動速度から移動体の対地移動速度を精度よく計測しよ
うとするものである。即ち、第1図1−Aはある時点に
おけるビデオカメラ等の撮像装置による撮像画面で、こ
れがある時間を経過すると1−Bに示すような撮像画面
となる。(E) Function This invention attempts to accurately measure the ground moving speed of a moving object by attaching an imaging device such as a video camera to the lower surface of a moving object so as to face the road surface, and based on the moving speed of the imaging results as the moving object moves. It is something. That is, FIG. 1-A is an image taken by an imaging device such as a video camera at a certain point in time, and after a certain period of time, the image becomes the image shown in 1-B.
これは撮像装置自身が第l図に示す矢印の進行方向に移
動したためである。従って1 −Aの撮像画面を電気的
に記憶させ、これを第1図に示す矢印の進行方向と逆の
方向にシフトさせると何処かで1−Bに示す撮像画面と
重なる部分(第1図ではMの部分)が出てくる筈である
。この逆方向のシフト量は撮像装置自身の移動距離と一
定の比率で対応しているため、二つの撮像画面を撮像し
た時間差とから移動体の対地移動速度を計測することが
出来る。This is because the imaging device itself moved in the advancing direction of the arrow shown in FIG. Therefore, if the imaging screen 1-A is electrically memorized and shifted in the direction opposite to the advancing direction of the arrow shown in FIG. Then, the M part) should appear. Since the amount of shift in the opposite direction corresponds to the moving distance of the imaging device itself at a constant ratio, the ground moving speed of the moving object can be measured from the time difference between capturing the two imaging screens.
(へ)実施例
この発明の一実施例を図面に基いて説明すると、第2図
において
第一ステップ
7、のスイッチが上方にあり、工、のビデオカメラ等の
撮像装置の信号は2、の記憶回路にとりこまれる。(F) Embodiment An embodiment of the present invention will be explained based on the drawings. In FIG. It is taken into the memory circuit.
第二ステップ
T秒後に7、のスイッチが下方になり、ビデオカメラ等
の撮像装置の信号は3、の記憶回路にとりこまれる。8
、のスイッチが下方になり、3、の出力信号は4、の遅
延回路によってPクロックだけ遅延されて5、の比較回
路におくられる。9、のスイッチが上方になり、5、の
比較回路は2、の記憶回路の出力信号と4、の遅延回路
の出力信号を比較し、二つの信号がある範囲で一致する
まで4、の遅延回路のクロツク量を制御する。二つの信
号が一致すると4、の遅延回路の遅延量は6、の演算回
路に送られ一定の演算が行われ対地速度計測量として1
0、の出力端子から出力される。After T seconds in the second step, the switch 7 is turned down, and the signal from the imaging device such as a video camera is taken into the storage circuit 3. 8
The switches of , are turned down, and the output signal of 3 is delayed by P clocks by the delay circuit of 4, and sent to the comparison circuit of 5. The switch 9 is turned upward, and the comparator circuit 5 compares the output signal of the storage circuit 2 and the output signal of the delay circuit 4, and delays 4 until the two signals match within a certain range. Controls the amount of clock in the circuit. When the two signals match, the delay amount of the delay circuit 4 is sent to the arithmetic circuit 6, where a certain calculation is performed and the ground speed measurement amount is 1.
0, is output from the output terminal.
第三ステップ
さらにT秒後に7、のスイッチが上方になり、ビデオカ
メラ等の撮像装置の信号は再び2、の記憶回路にとりこ
まれる.,8、のスイッチが上方になり、2、の出力信
号は4、の遅延回路によってPクロツクだけ遅延されて
5、の比較回路におくられる。9、のスイッチが下方に
なり、5、の比較回路は3、の記憶回路の出力信号と4
、の遅延回路の出力信号を比較し、二つの信号がある範
囲で一致するまで4、の遅延回路のクロック量を制御す
る。二つの信号が一致すると4、の遅延回路の遅延量は
6、の演算回路に送られ一定の演算が行われ対地速度計
測量として10、の出力端子から出力される。Third step: After a further T seconds, the switch 7 is turned upward, and the signal from the imaging device such as a video camera is again taken into the memory circuit 2. , 8 are turned upward, and the output signal of 2 is delayed by P clocks by the delay circuit of 4 and sent to the comparison circuit of 5. The switch of 9 is turned downward, and the comparison circuit of 5 is connected to the output signal of the storage circuit of 3 and 4.
The output signals of the delay circuits 4 and 4 are compared, and the clock amount of the delay circuit 4 is controlled until the two signals match within a certain range. When the two signals match, the delay amount of the delay circuit 4 is sent to the arithmetic circuit 6, where a certain calculation is performed and output from the output terminal 10 as the measured ground speed.
一 5 一
一 〇 一
第四ステップ
第二ステップと同じ動作を行う。即ち以後、第二ステッ
プと第三ステップを交互に繰返す。この各ステップの時
間間隔は一定でこれをT(秒)とする。次に移動体の対
地移動速度であるが、いま、ビデオカメラ等の撮像装置
が路面と平行に移動するとき、光学系が眺めている路面
の進行方向の長さA(メートル)が、撮像装置の撮像面
の長さB(メートル)のK倍(撮像装置の光学系で決ま
る一定の倍率)であるとすると次式が得られる。1 5 11 〇 1 Fourth step Perform the same action as the second step. That is, thereafter, the second step and the third step are repeated alternately. The time interval between each step is constant and is defined as T (seconds). Next, regarding the ground movement speed of a moving object, when an imaging device such as a video camera moves parallel to the road surface, the length A (meters) of the road surface viewed by the optical system in the traveling direction of the imaging device Assuming that the length B (meters) of the imaging surface of is K times (a constant magnification determined by the optical system of the imaging device), the following equation is obtained.
A=BXK [メートルコ
即ち、前記の遅延回路でシフトされた撮像面の長さのK
倍が実際に移動体の移動した距離になる。A=BXK [Metric length K of the imaging surface shifted by the delay circuit
Multiplied by the distance actually traveled by the moving object.
また、撮像面の全部の長さB(メートル)がQ分割され
、QクロックでB(メートル)が全部入れ替わるものと
すれば、1クロックでの撮像面の長さは(B/Q)(メ
ートル)となり、Pクロックでの長さは次式となる。Also, if the total length B (meters) of the imaging surface is divided into Q and all B (meters) are replaced at Q clock, then the length of the imaging surface in one clock is (B/Q) (meters). ), and the length at P clock is as follows.
(BxP)/Q [メートル] (工)(1
)式をK倍して実際に移動体の移動した距離を求め、ま
た、これに要する時間がT(秒)であるから最終的に移
動体の対地移動速度Sは次式で表される。(BxP)/Q [meter] (engine) (1
) equation is multiplied by K to find the actual distance traveled by the moving object, and since the time required for this is T (seconds), the ground moving speed S of the moving object is finally expressed by the following equation.
S= (EXKXP)/(Q XT)[メートル/秒コ
従って、このSに対応する計測値がT(秒)46に10
、の出力端子から出力されることになる。S = (EXKXP) / (Q XT) [meters/second] Therefore, the measured value corresponding to this S is T (seconds) 46 and 10
will be output from the output terminal of .
(ト)発明の効果
この発明は以上説明したように構或され、作用すること
に依って従来の対地速度計等にない数々の優れた効果を
持っている。即ち
■ 非接触で計測が可能であるため、接触型の計測器に
おける機械摩擦、スリップ、計測のための動力消費、等
の問題が全くない。(G) Effects of the Invention The present invention is constructed as described above, and by virtue of its operation, has many excellent effects not found in conventional ground speed meters. That is, (1) Since non-contact measurement is possible, there are no problems such as mechanical friction, slippage, and power consumption for measurement that are encountered with contact-type measuring instruments.
■ 超低速度から超高速度にわたって同じ計測精度で測
定が可能である。■ Measurements can be made with the same measurement accuracy from ultra-low speeds to ultra-high speeds.
■ 速度計全体を非常に小型軽量に構戒することが可能
となる為、対地速度計としての設置場所の制約が少ない
。■ Since the entire speedometer can be made extremely small and lightweight, there are fewer restrictions on where it can be installed as a ground speedometer.
■ センサ部分を路面に垂直に配置しうるため路面の凹
凸に依る移動体の上下動の影響を殆どう4、
けない。■ Since the sensor part can be placed perpendicular to the road surface, it is virtually unaffected by the vertical movement of the moving object due to unevenness of the road surface.
■ 速度計全体を非常に小型軽量に構或することが可能
となる為、設置費用もふくめトータルコストが安く経済
的効果が大である。■ Since the entire speedometer can be constructed to be extremely small and lightweight, the total cost including installation cost is low and the economical effect is great.
第1図はこの発明の基本的な原理の説明図、第2図はこ
の発明の一実施例を説明するための構或図である。
1−A・・・ある時点におけるビデオカメラ等の撮像装
置による撮像画面、1−B・・・ある時間を経過後の撮
像画面、1・・・撮像装置、2・・・記憶回路、3・・
・記憶回路、4・・・遅延回路、5・・・比較回路、6
・・・演算回路、7・・・切替スイッチ、8・・・切替
スイッチ、9・・・切替スイッチ、10・・・出力端子
。FIG. 1 is an explanatory diagram of the basic principle of this invention, and FIG. 2 is a structural diagram for explaining one embodiment of this invention. 1-A...Image captured by an imaging device such as a video camera at a certain point in time, 1-B...Image captured after a certain period of time, 1...Imaging device, 2...Storage circuit, 3.・
・Memory circuit, 4...Delay circuit, 5...Comparison circuit, 6
... Arithmetic circuit, 7... Selector switch, 8... Selector switch, 9... Selector switch, 10... Output terminal.
Claims (1)
対地速度計において、ビデオカメラ等の撮像装置を移動
体の下面に路面に向けて取り付け、移動体の移動に伴う
一定時間間隔ごとの撮像情報の移動量から、移動体の対
地移動速度を計測するよう構成されている対地速度計。 2 撮像装置、2組の記憶回路、遅延回路、比較回路、
演算回路、を具え、2組の記憶回路に交互に撮像信号を
記憶させ、遅延回路を通した片方の記憶回路の出力信号
、ならびに遅延回路を通さないもう片方の記憶回路の出
力信号とを比較回路で比較して、これらを一致させるた
めの上記遅延回路の制御信号を上記演算回路で演算して
、上記撮像装置の対地移動速度を計測するよう構成され
ている特許請求の範囲第1項記載の対地速度計。[Scope of Claims] 1. In a ground speed meter that measures the ground speed of a moving body moving on a road surface, an imaging device such as a video camera is attached to the bottom of the moving body facing the road surface, and the speed is measured as the moving body moves. A ground speed meter configured to measure the ground moving speed of a moving object from the amount of movement of imaged information at regular time intervals. 2. Imaging device, two sets of memory circuits, delay circuit, comparison circuit,
an arithmetic circuit, the imaging signal is alternately stored in two sets of memory circuits, and the output signal of one memory circuit that has passed through the delay circuit is compared with the output signal of the other memory circuit that is not passed through the delay circuit. Claim 1, wherein the control signal for the delay circuit is calculated by the calculation circuit to compare them in a circuit and make them match, thereby measuring the ground movement speed of the imaging device. ground speed meter.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP23357189A JPH0396863A (en) | 1989-09-09 | 1989-09-09 | Ground speed indicator |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP23357189A JPH0396863A (en) | 1989-09-09 | 1989-09-09 | Ground speed indicator |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH0396863A true JPH0396863A (en) | 1991-04-22 |
Family
ID=16957162
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP23357189A Pending JPH0396863A (en) | 1989-09-09 | 1989-09-09 | Ground speed indicator |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH0396863A (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05106157A (en) * | 1991-10-17 | 1993-04-27 | Meito Sci Kk | Device for detecting speed of traveling material |
JP2011073885A (en) * | 2005-01-04 | 2011-04-14 | Mitsubishi Electric Corp | Mover position/speed detecting device |
-
1989
- 1989-09-09 JP JP23357189A patent/JPH0396863A/en active Pending
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05106157A (en) * | 1991-10-17 | 1993-04-27 | Meito Sci Kk | Device for detecting speed of traveling material |
JP2011073885A (en) * | 2005-01-04 | 2011-04-14 | Mitsubishi Electric Corp | Mover position/speed detecting device |
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