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Relative position measurement system for vehicles using diffuse light

Research Project

Project/Area Number 11460118
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field 農業機械学
Research InstitutionThe University of Tokyo

Principal Investigator

IMOU Kenji  Graduate school of Agricultural and Life Sciences, The University of Tokyo, Associate Professor, 大学院・農学生命科学研究科, 助教授 (40184832)

Co-Investigator(Kenkyū-buntansha) KAIZUI Yutaka  Graduate school of Engineering, The University of Tokyo, Associate Professor, 大学院・農学生命科学研究科, 助手 (70313070)
OKAMOTO Tsuguo  Graduate school of Agricultural and Life Sciences, The University of Tokyo, Professor, 大学院・農学生命科学研究科, 教授 (40031215)
Project Period (FY) 1999 – 2001
Project Status Completed (Fiscal Year 2001)
Budget Amount *help
¥15,300,000 (Direct Cost: ¥15,300,000)
Fiscal Year 2001: ¥2,500,000 (Direct Cost: ¥2,500,000)
Fiscal Year 2000: ¥3,200,000 (Direct Cost: ¥3,200,000)
Fiscal Year 1999: ¥9,600,000 (Direct Cost: ¥9,600,000)
KeywordsPosition ditection / Infrared / Diffuse light / Transponder / Light emitting diodes / Escort vehicle / LED / 位置計測
Research Abstract

For the purpose of saving labor and improving safety in farm operations conducted with a pair of vehicles, automatic driving system of the following or preceding vehicle have been studied. These systems require real-time and precise measurement of the relative position of vehicles. The authors have proposed a relative position detection system using intensity modulated diffuse light from LEDs. In the first stage of this study, a range-finder was developed and tested, consisting of two stations which emit high-frequency modulated light at each other. The range between the stations is obtained from the phase difference between the two low-frequency beat signals generated in both stations. The results of this study may be summarized as follows :
1. A relative position detection system using diffuse light was proposed for automatic driving of the following or preceding vehicle used for farm operations.
2. A prototype range-finder was manufactured and tested to investigate the feasibility of the proposed system. It consisted of optical transmitters and receivers to transfer intensity modulated light to each other. Each transmitter had 25 high-speed infrared LEDs, and an avalanche photodiode module was used for each receiver.
3. Performance tests of the range-finder were conducted under direct sunshine. The maximum and standard errors from the regression values were about 5 and 3 cm respectively in the range from 1 to 10 m.
4. The tests results achieved the target accuracy of the development. However, the effects of temperature change, rain or fog were not considered and should be investigated in the next stage of the study.

Report

(4 results)
  • 2001 Annual Research Report   Final Research Report Summary
  • 2000 Annual Research Report
  • 1999 Annual Research Report
  • Research Products

    (18 results)

All Other

All Publications (18 results)

  • [Publications] 芋生ほか: "変調光による伴走車両の相対位置計測"農業機械学会第58回年次大会講演要旨. 58. 101-102 (1999)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] 芋生ほか: "拡散変調光による移動体間の距離測定"農業機械学会第60回年次大会講演要旨. 60. 271-272 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] 佐々木ほか: "拡散変調光による移動体間の距離測定"農業機械学会関東支部会第37回年次報告. 37. 52-53 (2001)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] 芋生ほか: "Range-finding between Vehicles Using Diffuse Light from LEDs"Journal of the Japanese Society of Agricultural Machinery. 64(2). 78-83 (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] 芋生ほか: "Relative position measurement system for vehicles using diffuse light from LEDs"Proceedings of the Conference on Automation Technology for Off-road Equipment. 2002(発表予定). (2002)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Imou et al.: "Relative Position Measurement of Vehicles Using Modulated light"Proceedings of the 58th Annual Meeting of the Japanese Society of Agricultural Machinery. 101-102 (1999)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Imou et al.: "Range Finding between Vehicles Using Modulated Diffuse light"Proceedings of the 60th Annual Meeting of the Japanese Society of Agricultural Machinery. 271-272 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Sasaki et al.: "Range Finding between Vehicles Using Modulated Diffuse lgiht"The 37th Annual Report of Kanto Branch The Japanese Society of Agricultural Machinery. 52-63 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Imou et al.: "Range Finding between Vehicles Using Diffuse Light from LEDs"Journal of the Japanese Society of Agricultural Machinery. 64(2). 78-83 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] Imou et al.: "Relative position measurement system for vehicles using diffuse light from LEDs"Proceedings of the Conference on Automation Technology for Off-road Equipment. (2002)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2001 Final Research Report Summary
  • [Publications] 芋生, ほか: "変調光による伴走車両の相対位置計測"農業機械学会第58回年次大会講演要旨. 58. 101-102 (1999)

    • Related Report
      2001 Annual Research Report
  • [Publications] 芋生, ほか: "拡散変調光による移動体間の距離測定"農業機械学会第60回年次大会講演要旨. 60. 271-272 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] 佐々木, ほか: "拡散変調光による移動体間の距離測定"農業機械学会関東支部会第37回年次報告. 37. 52-53 (2001)

    • Related Report
      2001 Annual Research Report
  • [Publications] 芋生, ほか: "Range-finding between Vehicles Using Diffuse Light from LEDs"Journal of the Japanese Society of Agricultural Machinery. 64(2)(掲載予定). (2002)

    • Related Report
      2001 Annual Research Report
  • [Publications] 芋生, ほか: "Relative position measurement system for vehicles using diffuse light from LEDs"Proceedings of the Conference on Automation Technology for Off-road Equipment. 2002(発表予定). (2002)

    • Related Report
      2001 Annual Research Report
  • [Publications] 芋生 ほか: "変調光による伴走車両の相対位置計測"農業機械学会第58回年次大会講演要旨. 58. 101-102 (1999)

    • Related Report
      2000 Annual Research Report
  • [Publications] 芋生 ほか: "拡散変調光による移動体間の距離測定"農業機械学会第60回年次大会講演要旨. 60(発表予定). (2001)

    • Related Report
      2000 Annual Research Report
  • [Publications] 芋生ほか: "変調光による伴走車両の相対位置計測"農業機械学会第58回年次大会講演要旨. 58. 101-102 (1999)

    • Related Report
      1999 Annual Research Report

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Published: 1999-04-01   Modified: 2016-04-21  

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