Position Detection of Moving Objects Using a Two Dimensional PSD and the Ceiling LED Lighting

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.