JP2000241543A - Movable body travel amount-detecting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately detect the amount of travel of a movable body. SOLUTION: A movable body travel amount-detecting device is provided with an ultrasonic wave transmission part 11 that emits an ultrasonic wave to the ground that is still relatively for the travel of a movable body at an angle of θ for a perpendicular direction, an ultrasonic wave transmission/ reception part 12 that emits an ultrasonic wave in a perpendicular direction toward the ground and at the same time receives the reflection wave of the ultrasonic wave from the ground, and a body 13 that consist of a signal- processing part 130, an arithmetic processing part 131, and an output part 132, emits an ultrasonic wave of burst waves with different frequencies from the ultrasonic wave transmission part 11 and the ultrasonic wave transmission/ reception part 12 at the same transmission time, obtains each reception time of the reflection wave, obtains delay time for the transmission time of the reception time, and calculates the relative travel amount of the movable body for the ground using the injection angle difference θ and a sound speed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a moving object detecting apparatus for detecting the moving amount of a moving object such as a person or an automobile mainly moving on the ground using ultrasonic waves.

[0002]

2. Description of the Related Art In recent years, GPS (Global Positioning Sys
tem) have been proposed and are commercially available.

As shown in FIG. 10, a GPS antenna 1 and signals from a plurality of satellites are acquired through the GPS antenna 1 and a satellite navigation message obtained from the signals is transmitted to the various devices. The position information and time information of each satellite are obtained using the information, the information, the time required for the satellite to transmit a radio wave and receive the radio wave (reception time-transmission time), and the Doppler frequency obtained by measurement are obtained. To calculate the pseudorange and Doppler shift from each satellite, and use these to include the internal clock error,
A GPS receiver 2 for calculating a two-dimensional or three-dimensional position of the GPS receiver and a display unit 3 for displaying predetermined information obtained from the calculated position and the like are generally provided.

As an example of mounting the apparatus on a moving body and detecting the moving distance of the moving body by the apparatus, Japanese Patent Laid-Open No. 6-194446 discloses a technique for detecting a Doppler component of a reflected signal from an object or a road surface. Detecting means, a vehicle speed calculating means for calculating a vehicle speed from the Doppler component detected by the detecting means, and performs a warning display to the driver when the vehicle speed calculated by the vehicle speed calculating means is equal to or less than a predetermined vehicle speed, The vehicle-equipped control means for stopping the warning display to the driver when the vehicle speed is equal to or higher than a predetermined speed, calculating the moving distance and moving direction of the vehicle from the Doppler component, and displaying the moving distance and moving direction. An ultrasonic detector is disclosed.

[0005]

However, FIG.
The position and the amount of movement of the mobile object calculated by the GPS receiver shown in FIG. Is reflected by the wall surface of the building and is affected by multipath and the like, and may include a large error.

[0006] Further, in places where GPS radio waves cannot be received, such as in tunnels, underpasses, and in buildings, GPS receivers cannot detect the amount of movement of a mobile object. In consideration of such a situation, a moving body movement amount detection device using a GPS receiver and an acceleration sensor together has been proposed.
In the acceleration sensor, when the moving body moves at a constant speed or a small acceleration, a large error is included in the detection result,
There is a problem that reliability is deteriorated.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object to provide a moving body moving amount detecting device which detects the moving amount of a moving body with high accuracy.

[0008]

According to a first aspect of the present invention, there is provided an apparatus for detecting a moving amount of a moving body attached to a moving body. Ultrasound transmitting means for emitting ultrasonic waves at a certain transmission time toward a stationary object, ultrasonic receiving means for receiving a reflected wave of the ultrasonic wave from the object, and the ultrasonic receiving means A moving amount calculating unit that calculates a delay time of the receiving time point at which the reflected wave of the ultrasonic wave is received with respect to the transmitting time point, and calculates a relative moving amount of the moving body with respect to the target using the delay time. Things.

According to this configuration, the relative position of the moving body is calculated from the delay time from the transmission time point at which the ultrasonic wave receiving means receives the reflected wave of the ultrasonic wave to the transmission time point. Even if the user moves at a constant speed or with a small acceleration in a room or underground where radio waves from GPS satellites do not reach, the calculated movement amount does not include an error such as an acceleration sensor. As a result, the amount of movement of the moving body can be detected with high accuracy.

[0010] The ultrasonic transmitting means comprises a plurality of ultrasonic transmitting sections for emitting ultrasonic waves toward the object at the same transmitting time with a predetermined emission angle difference, and the ultrasonic receiving means includes one ultrasonic transmitting section. The moving amount calculation means calculates a delay time of each reception time point with respect to the transmission time point, and uses each of these delay times, the emission angle difference and the sound speed to move the moving body with respect to the object. A configuration for calculating a relative movement amount may be employed (claim 2). According to this configuration, since the relative movement amount of the moving body is calculated from the delay time, the ejection angle difference, and the sound speed, the moving amount of the moving body can be detected with high accuracy.

Further, the plurality of ultrasonic transmitting units may emit ultrasonic waves of pulse waves having different frequency components from each other (claim 3). According to this configuration, even if ultrasonic waves are emitted at the same transmission time point, it is possible to identify which ultrasonic transmission unit is the ultrasonic wave emitted.

Further, the plurality of ultrasonic wave transmitting units may emit ultrasonic waves modulated by pseudo random code sequences different from each other (claim 4). According to this configuration, even if ultrasonic waves are emitted at the same transmission time point, it is possible to identify which ultrasonic transmission unit is the ultrasonic wave emitted.

Further, the ultrasonic wave transmitting means comprises one ultrasonic wave transmitting section for emitting ultrasonic waves toward the object, and the ultrasonic wave receiving means comprises a plurality of ultrasonic waves arranged at intervals of a predetermined length. The moving amount calculation means calculates a delay time at each reception time point with respect to the transmission time point, and uses the respective delay times, the predetermined length and the sound speed to relatively move the moving body with respect to the object. It may be configured to calculate the amount (claim 5). According to this configuration, since the relative moving amount of the moving body is calculated from the delay time, the predetermined length, and the sound speed, the moving amount of the moving body can be detected with high accuracy.

An acceleration sensor for detecting an acceleration of the moving body; and integrating means for double-integrating a detection result of the acceleration sensor to obtain a moving amount of the moving body. A configuration may be used in which the more reliable one of the two movement amounts obtained from the integration means is used (claim 6). According to this configuration, the moving amount of the moving body can be detected with higher accuracy.

Further, a GPS receiver for obtaining absolute position information, position information deriving means for obtaining position information of the moving body using the absolute position information and a movement amount obtained from the movement amount calculation means, Output means for outputting the position information obtained by the deriving means may be provided (claim 7). According to this configuration, it is possible to always obtain highly accurate position information.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a schematic configuration diagram of a moving body moving amount detecting device according to a first embodiment of the present invention, and FIG. 2 is an explanatory diagram of calculating a moving amount of a moving body. Below is the first
An embodiment will be described.

The moving body moving amount detecting device 10 shown in FIG.
For example, it is attached to an unillustrated moving body such as a car or a person (for example, a waist), and is directed vertically toward a ground (object) that is relatively stationary with respect to the movement of the moving body. An ultrasonic transmitter 11 for emitting ultrasonic waves at an angle of θ (for example, 10 degrees), and an ultrasonic transmitter for emitting ultrasonic waves in a vertical direction toward the ground and receiving reflected waves of the ultrasonic waves from the ground. Receiving unit 12, signal processing unit 130, arithmetic processing unit 1
And a main body 13 composed of an output section 132 and an output section 132.

The signal processor 130 processes signals transmitted and received by the ultrasonic transmitter 11 and the ultrasonic transmitter / receiver 12.

The arithmetic processing section 131 is provided with a timer function by an MPU (microprocessor unit) or the like, and performs various arithmetic processing and control processing.

For example, through the signal processing unit 130, a process is performed in which the ultrasonic wave transmitting unit 11 and the ultrasonic wave transmitting / receiving unit 12 emit ultrasonic waves of burst waves having different frequencies at the same transmission time. Here, by using the ultrasonic waves of the burst waves having different frequencies, the reflected waves of the ultrasonic waves emitted from the ultrasonic wave transmitting unit 11 and the ultrasonic wave transmitting / receiving unit 12 can be identifiably received. Will be possible.

Also, the reflected wave of the ultrasonic wave from the ground is monitored via the ultrasonic wave transmitting / receiving unit 12 and the signal processing unit 130, and the receiving time of the reflected wave is obtained. Is performed to determine the delay time for

Further, as a movement amount calculating means, a process of calculating a relative movement amount of the moving body with respect to the ground using each delay time, the emission angle difference θ and the sound speed is performed. However, the emission angle difference θ and the sound speed are stored in a storage unit (not shown) in advance.

The output unit 132 is, for example, a display, an audio output unit, or a data output unit (interface). The output unit 132 has predetermined information (for example, the movement amount and the current position) obtained from the movement amount calculated by the arithmetic processing unit 131. Information).

Next, the principle of calculating the moving amount of the moving object by the moving object moving amount detecting device 10 will be described with reference to FIG.

If the moving body moving amount detecting device 10 emits an ultrasonic wave at a certain transmission time while the moving body is moving in the horizontal direction, the ultrasonic wave transmitting section 11 and the ultrasonic transmitting / receiving section 12
The ultrasonic wave emitted from is reflected by the ground, and among the reflected waves, the reflected wave incident on the ultrasonic transmitting / receiving unit 12 is delayed according to the moving amount of the moving body.

At this time, the moving distance in the horizontal direction until the reflected wave is received is X, and the ultrasonic wave transmitting unit 1 at the time of transmission is X.
L1 is the distance from 1 to the reflection point G1 on the ground, and the reflection point G on the ground from the ultrasonic transmission / reception unit 12 at the time of transmission.
L2 is the distance from the reflection point G1 to the ultrasonic transmission / reception unit 12 after the X movement, and L2 is the distance from the reflection point G2 to the ultrasonic transmission / reception unit 12 after the X movement.
r, the delay time of the reception time of the reflected wave with respect to the transmission time of the ultrasonic wave of the ultrasonic transmission unit 11 is T11, and the delay time of the reception time of the reflected wave with respect to the transmission time of the ultrasonic wave of the ultrasonic transmission / reception unit 12 is Assuming that T12 and the speed of sound are V, the following relationship holds.

L1 + L1r = V × T11 L2 + L2r = V × T12 From FIG. 2, the following relation (Equation 1) is established, and this (Equation 1) can be transformed from the above equation into (Equation 2).

[0028]

(Equation 1)

[0029]

(Equation 2)

Here, the sound velocity V, the delay times T11 and T12
And the injection angle difference θ, the unknowns X and L2
By solving the two nonlinear equations of the above (Equation 2) including the following by the convergence calculation, the movement amount X can be calculated.

Next, an outline of the operation of the moving body moving amount detecting device 10 will be described. Ultrasonic waves are simultaneously emitted from the ultrasonic transmitting section 11 and the ultrasonic transmitting / receiving section 12 toward the ground, and each reflected wave from the ground is reflected. Is received by the ultrasonic transmission / reception unit 12. Thereafter, the delay time at each reception time point with respect to the transmission time point of the ultrasonic wave is measured, and the relative movement amount of the moving body with respect to the ground is calculated from each delay time, the emission angle difference θ, and the sound speed. Then, predetermined information obtained from the movement amount is output.

As described above, according to the first embodiment, even if the moving body is a pedestrian and moves at a constant speed or at a low acceleration in a room or underground where radio waves from the GPS satellites do not reach, for example, Since the movement amount does not include an error unlike the acceleration sensor, it is possible to detect the movement amount with high accuracy.

FIG. 3 is a schematic configuration diagram of a moving body moving amount detecting device according to a second embodiment of the present invention, and FIG. 4 is an explanatory diagram of ultrasonic waves used in the moving body moving amount detecting device. The second embodiment will be described below with reference to FIG.

The moving body moving amount detecting device 20 shown in FIG.
For example, it is attached to an unillustrated moving body such as a car or a person, and emits ultrasonic waves at an angle of θ with respect to the vertical direction toward the ground which is relatively stationary with respect to the movement of the moving body. Except for the ultrasonic transmitting unit 21 for emitting, the ultrasonic transmitting / receiving unit 22 for emitting ultrasonic waves in the vertical direction toward the ground and receiving the reflected waves of the ultrasonic waves from the ground, The main body 2 configured similarly to the main body 13 of the embodiment
3 is provided.

Further, the difference from the first embodiment will be described in detail. The ultrasonic wave transmitting section 21 converts a sinusoidal ultrasonic signal (see S1 in FIG. 4) into a rectangular pseudo-random code string (in FIG. 4). Ultrasonic waves (see S3 in FIG. 4) obtained by spread spectrum modulation in (S2) are emitted.

The ultrasonic transmission / reception unit 22 is obtained by subjecting an ultrasonic signal having the same frequency as described above to spread spectrum modulation with a different pseudo random code sequence, and emits an ultrasonic wave different from that of the ultrasonic transmission unit 21.

The signal processing section 230 processes signals transmitted and received by the ultrasonic transmitting section 21 and the ultrasonic transmitting / receiving section 22. For example, the signal processing section 230 receives the ultrasonic signals transmitted through the ultrasonic transmitting / receiving section 22. In order to identify whether the sound wave is emitted from the ultrasonic wave transmitting unit 21 or the ultrasonic wave transmitting / receiving unit 22, the received ultrasonic signal is subjected to spectrum despreading.

Next, an outline of the operation of the moving body moving amount detecting device 20 will be described. Ultrasonic waves are simultaneously emitted from the ultrasonic transmitting section 21 and the ultrasonic transmitting / receiving section 22 toward the ground, and each reflected wave from the ground is reflected. Is received by the ultrasonic transmission / reception unit 22. Thereafter, the delay time at each reception time point with respect to the transmission time point of the ultrasonic wave is measured, and the relative movement amount of the moving body with respect to the ground is calculated from each delay time, the emission angle difference θ, and the sound speed. Then, predetermined information obtained from the movement amount is output.

As described above, according to the second embodiment, by using the ultrasonic waves obtained by the spread spectrum modulation,
The delay time of the reflected wave can be obtained with high accuracy even in an environment where the noise level is high.

FIG. 5 is a schematic configuration diagram of a moving body moving amount detecting device according to a third embodiment of the present invention, and FIG. 6 is an explanatory diagram of calculating the moving amount of the moving body. An embodiment will be described.

The moving body moving amount detecting device 30 shown in FIG.
For example, it is attached to an unillustrated moving body such as a car or a person, and emits ultrasonic waves in a vertical direction toward the ground that is relatively stationary with respect to the movement of the moving body, and also emits ultrasonic waves from the ground. An ultrasonic transmission / reception unit 12 for receiving a reflected wave of an ultrasonic wave, and an ultrasonic transmission / reception unit 12 which is spaced apart from the ultrasonic transmission / reception unit 12 by a predetermined length D and opposed to each other with the ultrasonic transmission / reception unit 12 interposed therebetween, A pair of ultrasonic receiving units 321 and 322 for receiving reflected waves of ultrasonic waves from
The main body 33 includes an arithmetic processing unit 331 and an output unit 132.

The signal processing section 330 processes signals transmitted and received by the ultrasonic transmission / reception section 12 and the ultrasonic reception sections 321 and 322.

The arithmetic processing section 331 is provided with a timer function by an MPU or the like, and performs various arithmetic processing and control processing.

For example, through the signal processing unit 330, a process is performed in which the ultrasonic transmission / reception unit 12 emits a burst ultrasonic wave at a certain transmission time.

Further, through the ultrasonic transmission / reception unit 12, the ultrasonic reception units 321 and 322, and the signal processing unit 330,
The processing of monitoring the reflected wave of the ultrasonic wave from the ground, obtaining the reception time of the reflected wave, and calculating the delay time from the transmission time of each of these reception times is performed.

Further, as the movement amount calculating means, a process of calculating the relative movement amount of the moving body with respect to the ground using each delay time, predetermined length D and sound speed is performed. However, the predetermined length D and the sound speed are stored in a storage unit (not shown) in advance.

Next, the principle of calculating the moving amount of the moving object by the moving object moving amount detecting device 30 will be described with reference to FIG.

Now, when the moving body moving amount detecting device 30 emits an ultrasonic wave at a certain transmission time while the moving body is moving in the horizontal direction, it takes a time until the reflected wave is received by the ultrasonic wave transmitting / receiving section 12. The distance X in the horizontal direction is L, the distance from the ultrasonic transmission / reception unit 12 at the transmission time to the reflection point G on the ground is L, and the ultrasonic transmission / reception unit 12 relative to the transmission time of the ultrasonic wave.
The delay time at the time of reception of the reflected wave by T12 is T12, the delay time at the reception time of the reflected wave by the ultrasonic receiver 322 with respect to the same transmission time is T322, and the ultrasonic transmission / reception unit 1
Assuming that the angle between the propagation path of the ultrasonic wave emitted from 2 to the reflection point G and the propagation path of the reflected wave to the ultrasonic transmission / reception unit 12 is θ, and the sound speed is V, D≪L. So
The following (Equation 3) and (Equation 4) hold.

[0049]

(Equation 3)

[0050]

(Equation 4)

Here, since tan θ can be determined from the sound velocity V, the delay time T12, and (Equation 3), the unknowns X and L
The movement amount X can be calculated by solving the above two equations (Equation 4).

Next, an outline of the operation of the moving body moving amount detecting device 30 will be described. Ultrasonic waves are emitted from the ultrasonic transmission / reception unit 12 toward the ground, and reflected waves from the ground are reflected by the ultrasonic transmission / reception unit 12. And the ultrasonic receiving units 321 and 322. Thereafter, the delay time at each reception time point with respect to the transmission time point of the ultrasonic wave is measured, and the relative movement amount of the moving body with respect to the ground is calculated from the delay time, the predetermined length D, and the sound speed. Then, predetermined information obtained from the movement amount is output.

As described above, according to the third embodiment, for example, even if the moving body is a pedestrian and moves at a constant speed or at a low acceleration in a room or underpass where radio waves from GPS satellites do not reach, Since the movement amount does not include an error unlike the acceleration sensor, it is possible to detect the movement amount with high accuracy.

In the above (Equation 3), the delay time T1
2, T322 is used, but it goes without saying that tan θ can be similarly obtained by using the reception time (reception time) used in calculating the delay time.

FIG. 7 is a schematic configuration diagram of a moving body moving amount detecting device according to a fourth embodiment of the present invention. The fourth embodiment will be described below with reference to FIG.

The moving body moving amount detecting device 40 shown in FIG.
The ultrasonic transmitting unit 11 and the ultrasonic transmitting / receiving unit 12
In addition to being provided in the same manner as in the embodiment, a main body 43 that is different from the first embodiment is provided.

The main body 43 includes a signal processing section 130, an arithmetic processing section 131, and an output section 132 in substantially the same manner as in the first embodiment. In addition, an acceleration sensor 430 for detecting the acceleration of a moving object, Integrator 431 for double-integrating the detection result of 430 to obtain the moving amount of the moving body
(Integrating means), and a judgment processing unit 432.

This judgment processing section 432 is
1 and an MPU, and obtains predetermined information such as current position information using the more reliable movement amount of the movement amounts obtained from the arithmetic processing unit 131 and the integration circuit 431. In the fourth embodiment, if the acceleration detected by the acceleration sensor 430 is larger than a predetermined value, the movement amount from the integration circuit 431 is used. If the acceleration is smaller than the predetermined value, the movement amount from the arithmetic processing unit 131 is used. It is configured to be.

Next, an outline of the operation of the moving body moving amount detecting device 40 will be described. Ultrasonic waves are simultaneously emitted from the ultrasonic wave transmitting unit 11 and the ultrasonic wave transmitting / receiving unit 12 toward the ground, and each reflected wave from the ground is reflected. Is received by the ultrasonic transmission / reception unit 12. Thereafter, the delay time at each reception time point with respect to the transmission time point of the ultrasonic wave is measured, and the relative movement amount of the moving body with respect to the ground is calculated from each delay time, the emission angle difference θ, and the sound speed.

On the other hand, the acceleration of the moving object is detected by the acceleration sensor 430, and the detection result is double integrated to calculate the moving amount of the moving object.

When the movement amount is obtained by both the arithmetic processing unit 131 and the integration circuit 431, if the acceleration detected by the acceleration sensor 430 is larger than a predetermined value, the integration circuit 431
Is used, and predetermined information is obtained from the amount of movement. On the other hand, if the acceleration is smaller than the predetermined value, the moving amount from the arithmetic processing unit 131 is used, and the predetermined information is obtained from the moving amount. Thereafter, predetermined information is output.

As described above, according to the fourth embodiment, the more reliable movement amount is used, so that the movement amount can be detected with higher accuracy.

In the fourth embodiment, two movement amounts are obtained and one of them is used. However, the present invention is not limited to this, and if the acceleration detected by the acceleration sensor 430 is larger than a predetermined value. The moving amount of the moving body is obtained from the detection result of the acceleration sensor 430, and the moving amount is used. If the moving amount is smaller than a predetermined value, the ultrasonic transmitting unit 11, the ultrasonic transmitting / receiving unit 12, the signal processing unit 130, and the arithmetic processing The moving amount of the moving body may be obtained by the unit 131, and the moving amount may be used.

FIG. 8 is a schematic configuration diagram of a moving body movement amount detecting device according to a fifth embodiment of the present invention, and the fifth embodiment will be described below with reference to FIG.

The moving body moving amount detecting device 50 shown in FIG.
The ultrasonic transmitting unit 11 and the ultrasonic transmitting / receiving unit 12
In addition to being provided in the same manner as in the first embodiment, a difference from the first embodiment is that a GPS antenna 1 and a main body 53 are provided.

The main unit 53 includes a signal processing unit 130, an arithmetic processing unit 131, and an output unit 132 almost in the same manner as in the first embodiment, and further includes a GPS receiving unit for obtaining so-called absolute position information such as latitude, longitude and altitude. Device 531 and a determination processing unit 532 (position information deriving means).

This judgment processing unit 532 is
1 and an MPU, and a GPS receiver 531
Is able to receive radio waves from GPS satellites via the GPS antenna 1, stores the absolute position information from the GPS receiver 531 until new absolute position information is obtained, and stores the absolute position information from the absolute position information. If the current position information of the moving object is specified, but the radio wave from the GPS satellite cannot be received, the stored absolute position information and the movement amount obtained from the arithmetic processing unit 131 are used.
It specifies (estimates) the current position information of the moving object.

However, the output section 132 outputs predetermined information such as the current position information specified by the determination processing section 532.

Next, an outline of the operation of the mobile object movement amount detecting device 50 is as follows. When the GPS receiver 531 can receive radio waves from GPS satellites via the GPS antenna 1, the GPS receiver 531 transmits the signal. Is stored, and the current position information of the moving object is specified from the absolute position information. Then, predetermined information such as the specified current position information is output.

On the other hand, when the radio wave from the GPS satellite cannot be received, the ultrasonic wave is simultaneously emitted from the ultrasonic wave transmitting unit 11 and the ultrasonic wave transmitting / receiving unit 12 toward the ground, and the ultrasonic wave is transmitted from the ground. Are received by the ultrasonic transmission / reception unit 12. Thereafter, the delay time at each reception time point with respect to the transmission time point of the ultrasonic wave is measured, and the relative movement amount of the moving body with respect to the ground is calculated from each delay time, the emission angle difference θ, and the sound speed. Thereafter, the current position information of the moving object is specified from the movement amount and the stored absolute position information. Then, predetermined information such as the specified current position information is output.

As described above, according to the fifth embodiment, it is possible to always obtain highly accurate current position information.

FIG. 9 is a schematic block diagram of a moving body moving amount detecting device according to a sixth embodiment of the present invention. The sixth embodiment will be described below with reference to FIG.

The moving body moving amount detecting device 60 shown in FIG.
The ultrasonic transmitting unit 11 and the ultrasonic transmitting / receiving unit 12
In addition to being provided in the same manner as in the embodiment, a main body 63 different from that of the first embodiment is provided.

The main body 63 includes a signal processing unit 130 and an output unit 132 almost in the same manner as in the first embodiment, and differs from the first embodiment in that the ultrasonic transmission / reception unit 12 sends the signal And a calculation processing unit 631 for storing a distance L2 (see FIG. 2) to the reflection point G2 of the moving object. Note that the distance L2 may be appropriately updated by a learning process.

Using the distance L2 stored in the moving body height storage section 630, the arithmetic processing section 631 calculates two movement amounts X from the two equations (Equation 2), and calculates these two movement amounts X. Except that the least square method (or simply the average) may be applied to the calculation of one moving amount X.
1 is configured.

As described above, according to the sixth embodiment, the movement amount can be detected with higher accuracy than in the first embodiment.

[0077]

As is apparent from the above description, according to the moving body moving amount detecting device attached to the moving body according to the first aspect of the present invention, the moving body is relatively stationary with respect to the movement of the moving body. An ultrasonic transmitting unit that emits an ultrasonic wave at a transmission time point toward an object, an ultrasonic receiving unit that receives a reflected wave of the ultrasonic wave from the object, and the ultrasonic receiving unit includes the ultrasonic wave. Moving time calculating means for calculating a relative moving amount of the moving object with respect to the target object using the delay time with respect to a delay time of the receiving time point at which the reflected wave is received. The amount of movement of the body can be detected with high accuracy.

According to the second aspect of the present invention, the ultrasonic wave transmitting means includes a plurality of ultrasonic wave transmitting units for emitting ultrasonic waves toward the object at the same transmission time with a predetermined emission angle difference. The ultrasonic receiving means comprises one ultrasonic receiving unit, and the moving amount calculating means obtains a delay time at each reception time point with respect to the transmission time point, and uses each of these delay times, the emission angle difference and the sound speed. Since the relative movement amount of the moving body with respect to the target object is calculated, the moving amount of the moving body can be detected with high accuracy.

According to the third aspect of the present invention, since the plurality of ultrasonic wave transmitting units emit ultrasonic waves of pulse waves having different frequency components, the ultrasonic waves are emitted from any of the ultrasonic wave transmitting units. Can be identified.

According to the fourth aspect of the present invention, since the plurality of ultrasonic wave transmitting units emit ultrasonic waves modulated by different pseudo random code sequences, the ultrasonic wave emitted from any of the ultrasonic wave transmitting units. Can be identified.

According to the fifth aspect of the present invention, the ultrasonic wave transmitting means comprises one ultrasonic wave transmitting section for emitting ultrasonic waves toward the object, and the ultrasonic wave receiving means is provided at intervals of a predetermined length. Consisting of a plurality of ultrasonic receivers arranged in
Since the movement amount calculating means calculates a delay time of each reception time point with respect to the transmission time point, and calculates a relative movement amount of the moving body with respect to the object using each of the delay times, the predetermined length and the sound speed. In addition, it is possible to detect the moving amount of the moving body with high accuracy.

According to the sixth aspect of the present invention, the acceleration sensor for detecting the acceleration of the moving body and the integrating means for double-integrating the detection result of the acceleration sensor to obtain the moving amount of the moving body are provided. Since the more reliable one of the two moving amounts obtained from the moving amount calculating means and the integrating means is used, the moving amount of the moving body can be detected with higher accuracy. .

According to the seventh aspect of the present invention, a GPS receiver for obtaining absolute position information, and a position for obtaining position information of the moving body using the absolute position information and the movement amount obtained from the movement amount calculation means. Since the apparatus includes the information deriving unit and the output unit that outputs the position information obtained by the position information deriving unit, it is possible to always obtain highly accurate position information.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram of a moving body movement amount detection device according to a first embodiment of the present invention.

FIG. 2 is an explanatory diagram of calculating a moving amount of a moving object in the first embodiment.

FIG. 3 is a schematic configuration diagram of a moving body movement amount detection device according to a second embodiment of the present invention.

FIG. 4 is an explanatory diagram of ultrasonic waves used in the moving body movement amount detection device shown in FIG. 3;

FIG. 5 is a schematic configuration diagram of a moving body movement amount detection device according to a third embodiment of the present invention.

6 is an explanatory diagram of calculating a moving amount of the moving object shown in FIG. 5;

FIG. 7 is a schematic configuration diagram of a moving body movement amount detection device according to a fourth embodiment of the present invention.

FIG. 8 is a schematic configuration diagram of a moving body movement amount detection device according to a fifth embodiment of the present invention.

FIG. 9 is a schematic configuration diagram of a moving body movement amount detection device according to a sixth embodiment of the present invention.

FIG. 10 is a general configuration diagram of a conventional device compatible with GPS.

[Explanation of symbols]

10, 20, 30, 40, 50, 60 Moving body movement amount detection device 11, 21 Ultrasonic transmission unit 12, 22 Ultrasonic transmission / reception unit 13, 23 Main body 130, 230, 330 Signal processing unit 131, 331, 631 Arithmetic processing unit 132 Output unit 321,322 Ultrasonic wave receiving unit 430 Acceleration sensor 431 Integrating circuit 432,532 Judgment processing unit 531 GPS receiver 630 Moving object height storage unit

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Takuya Sueto 1048 Kadoma Kadoma, Osaka Pref.Matsushita Electric Works, Ltd. 72) Inventor Ikuo Tsujimoto 1048 Kadoma, Kadoma, Osaka Prefecture Inside Matsushita Electric Works Co., Ltd. 1048 Kadoma Kadoma, Matsushita Electric Works, Ltd. F-term (reference) 5J083 AA02 AB20 AD03 AD04 AE01 AE08 AF04 AF05 AG09 BA02 BA09 CA01 CA02 CA04

Claims (7)

[Claims] 1. An apparatus for detecting a moving amount of a moving body attached to a moving body, wherein the ultrasonic wave is emitted at a point of time of transmission toward an object which is relatively stationary with respect to the movement of the moving body. Sound wave transmitting means, an ultrasonic wave receiving means for receiving a reflected wave of the ultrasonic wave from the object, and a delay time with respect to the transmission time point at a reception time point at which the ultrasonic wave receiving means receives the reflected wave of the ultrasonic wave. And a moving amount calculating means for calculating a relative moving amount of the moving object with respect to the target object using the delay time. 2. The ultrasonic transmitting means comprises a plurality of ultrasonic transmitting parts for emitting ultrasonic waves toward the object at the same transmitting time with a predetermined emission angle difference. The moving amount calculating means obtains a delay time of each reception time point with respect to the transmission time point, and uses each of these delay times, the emission angle difference and the sound speed to move the moving body with respect to the object. The moving body movement amount detecting device according to claim 1, wherein the relative movement amount is calculated. 3. The moving body moving amount detecting device according to claim 2, wherein the plurality of ultrasonic wave transmitting units emit ultrasonic waves of pulse waves having different frequency components from each other. 4. The moving body moving amount detecting device according to claim 2, wherein the plurality of ultrasonic wave transmitting units emit ultrasonic waves modulated by different pseudo random code sequences. 5. The ultrasonic transmitting means comprises one ultrasonic transmitting section for emitting ultrasonic waves toward the object, and the ultrasonic receiving means comprises a plurality of ultrasonic waves arranged at intervals of a predetermined length. The moving amount calculating means obtains a delay time of each reception time point with respect to the transmission time point, and uses the respective delay times, the predetermined length and the sound speed to relatively move the moving body with respect to the object. The moving object moving amount detecting device according to claim 1, wherein the moving amount is calculated. 6. An acceleration sensor for detecting an acceleration of the moving body, and integrating means for double-integrating a detection result of the acceleration sensor to obtain a moving amount of the moving body, wherein the moving amount calculating means and 2. The moving body movement amount detecting device according to claim 1, wherein the more reliable movement amount is used among the two movement amounts obtained from the integration means. 7. A GPS receiver for obtaining absolute position information, position information deriving means for obtaining position information of the moving body using the absolute position information and a movement amount obtained from the movement amount calculation means, The moving body movement amount detecting device according to claim 1, further comprising an output unit that outputs the position information obtained by the deriving unit.