Abstract

In recent years, the places where a robot plays an active part in various scenes increase, we think that the places which need robot increase in the future. Position detection of the moving objects such as robots itself is very important. The method of the conventional position detection uses Global Positioning System (GPS) and a camera. Each method has some disadvantages. For example, large error, long processing time, and usable place. Therefore, we propose a new method of position detection of the moving objects using a two-dimensional Position Sensitive Device (2D PSD) and the ceiling Light Emitting Diode (LED) lighting in this study. In this method, we establish the LED whose frequency is modulated in a room, and defines positional coordinates of each LED in advance. 2D PSD can receive plural light at the same time by getting the spectrums every frequency using FFT. The plural light is incident on PSD during movement in various places. We choose four LED which are the nearest to PSD from that and perform position detection using them. Accordingly, we can relatively detect the position of the 2D PSD by detecting the position of the LED with a 2D PSD. This method is accurate and available under various situation. We performed the experiments of position detection and showed the effectiveness of this method.

Highlights

  • The places where a robot plays an active part in various scenes increase, we think that the places which need robot increase in the future

  • A robot that will automatically carry various things in the room such as a hospital, a robot that moves put a handicapped human foot, a robot who will help of everyday life in those very useful if spread is there

  • We performed the position detection of the moving objects using six Light Emitting Diode (LED). Because this measurement was aimed for the position detection of the moving objects, We performed position detection in the situation that change of the light that PSD receives in the case of the movement and choice of the light to use for operation produced

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Summary

Introduction

The places where a robot plays an active part in various scenes increase, we think that the places which need robot increase in the future. If a robot is wherever, the appearance of the landmark must be different It takes time because complicated calculation is needed by position detection using image processing. The method of this conventional position detection has a demerit. We propose a new method of position detection using a two-dimensional Position Sensitive Device (2D PSD) and the ceiling Light Emitting Diode (LED) lighting in this study. In this method, we modulate plural LED to different frequency. We can overcome the disadvantages of the method conventionally by using this method

Principle
System configuration
Accurate position detection
Configuration of the light receiving side
The measurement using four LED
The measurement using six LEDs
Conclusion
Full Text
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