JP2568404B2 - Guide system for unmanned vehicles using light beam - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unmanned vehicle guidance device using a light beam traveling along a path defined by a light beam scanned by a scanner.

2. Description of the Related Art An automatic guided vehicle will be described as an example of an unmanned vehicle.

A conventional guidance device for an automatic guided vehicle using a light beam will be described with reference to the drawings. FIG. 10 is a configuration explanatory view of a conventional guiding device, FIG. 11 is a partially cutaway perspective view of the scanner 100, and FIG.
FIG. 2 is a block diagram of a control circuit of the automatic guided vehicle. Tenth
In the figure, reference numeral 3 denotes an automatic guided vehicle guided by a laser beam LB scanned on a predetermined path 4 by the scanner 100.

The scanner 100 is fixed at a predetermined position on the floor surface by a support bracket 110 such as a column.

In FIG. 11, a scanner 100 includes a laser generator 101, a mirror 102 for scanning a laser beam generated from the laser generator 101 as a scanning beam, a scanning motor 103 for rotating the mirror 102, and a scanning motor. 103
And a rotating shaft 105 for connecting. The mirror 102 and the scanning motor 103 are fixed to a casing 106 via a fixture 104, and the casing 106 is attached to a predetermined position on the floor surface by a support bracket 110.

This scanner 100 is a route 4 on which the automatic guided vehicle 3 should travel.
Is scanned by a laser beam LB having sharp directivity in the direction along. On the other hand, the automatic guided vehicle 3 is provided with a sensor 31 for detecting the laser beam LB. This sensor 30 detects the laser beam LB, and based on the detection output, the automatic guided vehicle 3
Emits a steering signal necessary for traveling on the path 4 defined by the laser beam LB.

A steering device included in the automatic guided vehicle 3 is controlled based on the steering signal, whereby the automatic guided vehicle 3 travels on the path 4 scanned by the laser beam LB.

In FIG. 12, the detection output of the sensor 31 is input to the microcomputer 323 via the amplification circuit 321 and the switching circuit 322. When the automatic guided vehicle 3 deviates from the route 4 by the microcomputer 323, a steering signal for returning to the route is input to the steering wheel drive circuit 324, and the steering motor 325 is driven so as to follow the route 4. It is configured to perform the correction and control the traveling motor 327 via the traveling wheel drive circuit 326.

Problem to be Solved by the Invention The automatic guided vehicle is generally configured to run on an indoor route such as a factory or a warehouse.However, if the floor surface vibrates for any reason, the support column 110 shakes, and the scanner 100 May swing. However, unmanned vehicles generally travel outdoors more often than they travel indoors. And, when the traveling route of the unmanned vehicle is outdoors, especially when the support with the scatter is a high-speed elevated road, when it is installed for temporary construction at the construction site, or under strong wind,
The support 110 swings, the scanner 100 swings, and the laser beam LB
However, there is a problem that the scanning direction fluctuates and an error occurs in the route of the unmanned vehicle, and the vehicle cannot travel along the predetermined route.

SUMMARY OF THE INVENTION It is an object of the present invention to provide an unmanned vehicle guidance apparatus using a light beam that returns an unmanned vehicle to a predetermined route even if the unmanned vehicle deviates from a route.

Means for Solving the Problems In order to achieve the above-mentioned object, the invention according to claim 1 is arranged such that a scanner provided on the ground is separated from the scanner at a position serving as a reference point of a path of an unmanned vehicle. The scanner comprises a light beam generating means, and the light beam emitted from the light beam generating means scans such that the light beam includes the retroreflective means and intersects the running surface of the unmanned vehicle. Light beam scanning means for drawing a path of an unmanned vehicle;
Feedback beam detection means for detecting a deviation of the optical axis of the return beam reflected and reflected by the retroreflection means, and directional axis correction for correcting the direction of the scanning surface of the light beam based on a signal detected by the feedback beam detection means Means, and a control unit, and the direction axis correcting means is provided in a vertical direction for causing the light beam generating means, the light beam scanning means, and the return beam detecting means to swing horizontally with respect to the light beam scanning surface. A direction in which the roll axis is twisted on a vertical plane intersecting the light beam scanning surface, the shaft rotating motor, the light beam generating means, the light beam scanning means, the feedback beam detecting means, and the vertical axis rotating motor being integrally integrated; And the retroreflecting means is composed of two corner cubes vertically arranged vertically at a pressing position,
The control unit controls the direction axis correcting means based on the signal detected by the feedback beam detecting means, and guides the unmanned vehicle with the light beam whose scanning direction has been corrected.

According to a second aspect of the present invention, a slide motor is further added to the configuration of the first aspect of the invention to reduce the corner cube to one.
It is characterized in that it has been added.

Embodiment A description will be given below of a case where the guidance device according to claim 1 of the present invention is applied to an automatic guided vehicle with reference to the drawings.

1 to 5 are views for explaining a part of the configuration, FIG. 1 is a partially cutaway perspective view showing the configuration of a scanner, FIG. 2 is a schematic explanatory view of a guiding device, Third
FIG. 4 is a perspective view for explaining the operation of the guide device, FIG. 4 is a diagram for explaining the operation of the retroreflective means, FIG. 5 is a diagram for explaining a shake correcting operation of the guide device, and FIG. The normal state is shown, and FIG. 5 (B) shows a swing state.

6 to 7 are drawings according to the first aspect of the present invention, wherein FIG. 6 is a partially cutaway external perspective view showing the configuration of a scanner, FIG. FIG. 7 (B) is a plan view for explaining the operation of the retroreflecting means.

The guidance device comprises a scanner 1 and retroreflective means.

The scanner 1 is provided with a support 120 standing at a predetermined position on the floor.
And includes a light beam generating means, a light beam scanning means, a return beam detecting means, a direction axis correcting means, and a control unit.

The light beam generating means includes a laser generator 11 for generating a laser beam.

The light beam scanning unit includes the retroreflection unit and the light beam on the traveling surface of the automatic guided vehicle 3, and is orthogonal to the traveling surface and scans the light beam over a predetermined angle range. A collimator lens 12 that draws a path 4 and increases the diameter of a laser beam generated from a laser beam generator 11 to be a parallel beam, and a collimator lens that is rotatably disposed forward of the collimator lens 12 in the direction of travel of the laser beam. A scanning mirror 13 for scanning the laser beam passing through 12, a scanning motor 14 for rotating the scanning mirror 13, and a scanning motor
It is constituted by a rotating frame 15 that holds 14.

The return beam detecting means includes a scanning mirror 13
A plurality of (four in the illustrated example) lenses that reflect the scanning beam LBS emitted outside the housing 1a by the retroreflecting means (described later) and collect the return beam LBR returning to the scanning mirror 13 again 16 and a plurality (four in the illustrated example) of photosensors 171, 172, 173, and 174 for detecting a shift of the optical axis of the return beam LBR collected by the lens 16.
(Hereinafter, collectively referred to as reference numeral 17), and both the lens 16 and the photo sensor 17 are held by the rotating frame 15. The lens 16, the photo sensor 17
An opening 16a is opened in the center of the plane where is arranged, so that the scanning beam LBS from the laser generator 11 to the scanning mirror 13 and the return beam LBR reflected by the scanning mirror 13 can pass therethrough. Further, the feedback beam LBS that has passed through the opening 16a is received by a sensor (not shown) and detected, and a light reception detection signal is input to the control unit 20.

The direction axis correcting means includes a rotating frame 15 as shown by an arrow A.
Vertical axis rotation motor 18 for rotating the motor about a vertical axis
And a fixture 19 for fixing the vertical axis rotation motor 18 to the scanner housing 1a.

Here, the vertical is the direction of the earth's gravity, and the vertical axis herein includes an angle at which the scanning plane defined by the scanning beam LBS is slightly deviated from the vertical plane. This is in order to cope with a case in which the column to which the corner cubes 2A and 2B (described later) are attached may be erected from the vertical direction on the ground.

The control unit 20 controls the scanning beam LB based on the signal of the photo sensor 17.
By calculating the deviation of the optical axis between the TS and the feedback beam LBR, the vertical axis rotation motor 18 is rotated, and the rotating frame 15 is rotated about the vertical axis, so that the front surface of the scanner 1 is in a vertical plane. Scanning beam LBS
In addition to the conventional control circuit 32, an amplification circuit 111 for correcting the vertical axis direction, a switching circuit 112, a determination circuit 113, and a direction axis rotation motor control circuit are provided. 114, direction axis rotation motor drive circuit 115
Contains.

 Next, the retroreflection means will be described.

The retroreflecting means is provided at a predetermined position serving as a reference point of the path 4 of the automatic guided vehicle 3. For example, a corner cube 2 as a retroreflecting body is mounted at a predetermined height position on the floor surface by a support 21. ing. And the scanner 1
The scanning beam LBS is arranged so as to pass through the center of the corner cube 2 in the normal state.

The corner cube 2 is irradiated with a laser beam LBS
Is reflected as a return beam LBS in the same direction as the incident direction.

Next, the operation of the guidance device will be described with reference to FIG.

First, a description will be given of a case where the scanner 1 is in a normal state where there is no shake.

The light beam generated from the laser generator 11 is converted into a parallel beam by the collimator lens 12, travels straight, hits the scanning mirror 13, is reflected by the scanning mirror 13, and is emitted and scanned by the scanner 1 as a scanning beam LBS.

In the normal case, the scanning beam as shown in FIG.
The LBS is incident on the center of the corner cube 2 only once for each scanning. This incident light is reflected on the same path as the scanning beam LBS and is sent back to the scanner 1 as a return beam LBR.

The return beam LBR is reflected by the scanning mirror 13, but is reflected by the laser generator 11.
It passes through the opening 16a along the same route as the LBS. Accordingly, none of the photosensors 17, 172, 173, and 174 receive light via the lens 16, no displacement signal of the scanning beam LBS is generated, and the scanning mirror 13 does not operate. The opening 16
The light reception detection signal of the feedback beam LBR that has passed through a is input to the control unit 20.

As shown in FIGS. 4 and 5B, when the scanner 1 moves for some reason and the front surface of the scanner deflects forward by an angle θ with respect to the vertical plane Y, the scanning beam LBS is moved to the corner cube 2. Not incident on the center but incident from point P1 and point P2
More reflective.

That is, the corner cube 2 is shifted to a position indicated by 2 '(see FIG. 3).

Here, the vertex C1 of the corner cube 2 and the center point C2 of the incident surface
When the distance between the center line connecting the scanning beam LBS and the reflection position of the scanning beam LBS in the corner cube is d, the return beam LBR is inclined by an angle θ with respect to the center lines C1 and C2 of the corner cube 2, and deviated from the scanning beam LBS by the distance d. Then, the light is reflected and enters the point P3 of the scanning mirror 13. Then, the light is reflected again at the point P3 and condensed by the lens 16, and is received by one of the photo sensors 171, 172, 173, and 174 (the sensor 173 in the example shown in FIG. 3 and the sensor 174 in the example shown in FIG. 5B). I do. Sensor 173 or 174
Is input to the amplification circuit 111 of the control unit 20, passes through the switching circuit 112, and the discrimination circuit 113 detects the deviation of the optical axis of the feedback beam LBR, and outputs a signal for correcting the deviation amount in the vertical axis rotation. Input to the dynamic motor control circuit 114 and the vertical axis rotation motor 1
By driving the scanning mirror 8, the scanning mirror 13 is returned from the deflected state shown by the solid line b to the state a shown by the two-dot chain line, that is, the original state in which it does not deviate. Thus, the virtual corner cube 2 'shown in FIG. 3 has returned to the normal position. Then, control is performed such that the beam is incident on the center line C1C2 of the corner cube 2 only once for each scanning of the scanning beam LBS.
Therefore, the scanning surface of the scanning beam LBS does not deviate from the path 4.

Above, for convenience of explanation, the case where the front surface of the scanner 1 swings in the front-back direction with respect to the vertical plane has been described.

Further, there is a case where the scanner 1 rolls along the vertical plane and is inclined in a direction in which the scanner 1 is twisted with respect to the roll axis, that is, tilts clockwise or counterclockwise on the vertical plane with the roll axis as a rotation center.

Here, the roll axis means a vertical axis passing through a reflection point at which the light beam generated by the laser generator 11 strikes the scanning mirror 13 and an axis orthogonal to the rotation axis of the scanning mirror 13.

In this case, the displacement cannot be detected and corrected at the position where the lens 16 and the photo sensor 17 are disposed as described above. That is, when the originally correct scanning surface of the scanning beam LBS should be perpendicular to the path (floor surface), when the scanner 1 is twisted right and left with respect to the roll axis on the vertical plane as described above, Since the scanning plane is inclined, the path of the floor surface is drawn at a position different from the normal position.

Therefore, in the guidance apparatus according to the first aspect, the scanner 1 'is configured so that each of the scanners 1' can be corrected even if the scanner 1 is in a rolling state along the vertical plane.

The scanner 1 'has a fixing member 19 with the roll axis as the center of rotation.
A roll shaft rotation motor 41 for rotating the roll shaft around the roll axis along the vertical plane as shown by an arrow B in FIG. 6, and a roll shaft rotation for fixing the roll shaft rotation motor 41 to the laser scanner housing 1a. A motor fixture 42 is added, and the control unit 20 ′ includes an amplifying circuit, a switching circuit, a discriminating circuit, a roll shaft rotating motor control circuit similar to the above for controlling the roll shaft rotating motor 41, A roll shaft rotation motor drive circuit is added.

On the other hand, as shown in FIG. 7 (A), the retroreflection means is vertically arranged at a predetermined position serving as a reference point of the path 4.
It is composed of corner cubes 2A and 2B, each of which is a set, and a column 21 for supporting these.

Next, the operation of the guidance device will be described with reference to FIG. 7 (B).

In the normal state where the scanner 1 'is not shaken, the scanning surface of the scanning beam LBS passes through the center points of the corner cubes 2A and 2B, as indicated by the dashed line L. However, when the scanner 1 'rolls along the vertical plane by the angle α as described above, the scanning plane is inclined as a straight line M. in this case,
Corner cube 2A reflected from point Q2 enters from Q1 point occurs deviation intervals d ₁ is the incident light M and the reflected light N. Next, when the incident light M deviates from the corner cube 2A and enters the corner cube 2B, the light enters from the point R1 and is reflected from the point R2, so that the distance between the incident light M and the reflected light S is shifted by d2.

As described above, since the reflected lights N and S have components in the lateral direction with respect to the incident light M, they can be detected by the lens 16 and the photo sensor 17 according to the above.

In this case, in the control unit 20 ', the discriminating circuit discriminates each of the corner cubes 2A and 2B. When there is a deviation of the optical axis of each reflected light, not only the front surface of the scanner 1 'is corrected in the front-back direction with respect to the vertical plane by driving the vertical axis rotation motor 18 but also the roll axis rotation motor.
41, the scanner 1 'attached to the roll shaft rotation motor fixture 42 is rotated clockwise or counterclockwise on the vertical plane about the roll shaft as a rotation center, and the scanning beam LBS is rotated.
Is corrected.

When the front surface of the scanner 1 'is tilted back and forth in the vertical direction with respect to the vertical plane, the scanning surface of the scanning beam LBS does not shift because the scanning beam LBS is scanned in the vertical direction.

Next, the guidance device according to claim 2 will be described with reference to the drawings.

8 to 9 are drawings related to the guidance device, FIG. 8 is a partially cutaway perspective view showing the configuration of the scanner, FIG. 9 (A) is a schematic explanatory view of the guidance device, and FIG. FIG. 9 (B) is a drawing for explaining the operation of the retroreflection means.
9 (B) (i) is a front view, FIGS. 9 (B) (ii) are side views, and FIGS. 9 (B) (III) are plan views.

According to the second aspect of the present invention, in addition to the first aspect of the present invention, even when the scanner 1 'moves horizontally in the left-right direction to cause a position shift, the shift of the optical axis of the feedback beam LBR is detected and corrected. And a slide motor and a corner cube.

The means for correcting the direction axis of the scanner 1 "in the guidance apparatus according to claim 2 includes the vertical axis rotation motor 18, the roll axis rotation motor 41, and the slide motor 43.
20 ″ is configured to control the slide motor 43 as described above.

The roll shaft rotation motor fixture 42 is not fixed to the laser scanner housing 1a ″ but is provided so as to be movable in the longitudinal direction of the scanning mirror 13 and is moved right and left by a pole screw 44 and the like via a slide motor 43. It is configured to move horizontally.

Therefore, the laser generator 11, the collimator lens 12, the scanning mirror 13, the lens 16, the photo sensor 17, the vertical axis rotation motor 18, and the roll axis rotation motor 41 slide together with the roll axis rotation motor fixture 42. It moves horizontally by the motor 43.

On the other hand, the retroreflection means is composed of three corner cubes 2A, 2B, 2C which are vertically arranged at the predetermined position on the same vertical line and which are arranged at different positions in the horizontal direction, and columns 21 which support these. . In the illustrated example, the horizontal support distance Y between the corner cube 2C and the column 21 is larger than the support distance X of the corner cubes 2A and 2B, and the corner cubes 2A and 2B are positioned on the same vertical plane with the support distance X. In this case, one plane is specified by the three corner cubes.

When the scanner 1 "is at the normal position, the three points of the corner cubes 2A, 2B and 2C are always irradiated with the scanning beam LBS.

In other words, the surface specified by the corner cubes 2A, 2B, and 2C is scanned by the scanning beam LBS, and the trajectory of the scanning beam LBS drawn on the floor upper surface is the correct path 4. In the above description, Y> X, but not limited to Y> X.
The support distance of the corner cubes 2A, 2B may not be the same.

Next, the operation of the guidance device according to claim 2 will be described with reference to FIG. 9 (B).

When the scanner 1 ″ is in a normal position without swinging, the scanning plane U defined by the scanning beam LBS is located at the center point of each of the corner cubes 2A, 2B, 2C as shown in FIGS. Therefore, the return beam LBR is not detected by the photo sensor 17. Then, the light receiving signal of the return beam LBS that has passed through the opening 16a is input to the control unit 20 ″ as described above.

When the front surface of the scanner 1 ″ swings in the front-rear direction with respect to the vertical plane, or tilts clockwise or counterclockwise on the vertical plane, or when both coexist (for example, FIG. 9 (B)).
(Refer to the scanning plane W shown in the figure) As described above, the position correction by the slide motor 43 and the vertical axis rotation motor 18
The scanning surface of the scanning beam LBS is always used for the corner cubes 2A, 2B, 2
The position of the scanner 1 "is corrected by the above-mentioned means so as to refer to any one of C, and the correct path is maintained.

When the scanner 1 ″ is shifted from the normal position only in the horizontal direction, for example, rightward, the scanning surface V of the scanning beam LBS deviates from any of the corner cubes 2A, 2B, 2C, and the return beam LB
S is not detected, and the control unit 20 ″ returns the feedback beam L
Since none of the light receiving detection signals of the BS are input, it is determined that the state is abnormal. In the case of this abnormal state, the control unit 20 ″ firstly controls the vertical axis rotation motor 18 and then the roll axis rotation motor.
A program is set in advance to drive 41 in the forward and reverse directions. Therefore, the control unit 20 ″ controls the vertical axis rotation motor 18, the roll axis rotation motor based on the program.
By sequentially driving the 41, the scanning plane V comes into contact with one of the corner cubes as shown in FIG. 9 (B) (i). Then, the slide motor 43 is driven to scan the scanning beam.
The position of the scanner 1 ″ is corrected so that the LBS contacts the three corner cubes 2A, 2B, and 2C.

Therefore, even if the scanner 1 ″ swings due to the swing of the column 21, the normal path 4 does not change, and the automatic guided vehicle travels along the axis trace drawn on the floor surface by the scanning beam LBS as the normal path. I do.

In the above embodiment, the automatic guided vehicle has been described.
The present invention is not limited to this, and can be applied to unmanned vehicles driven by unmanned vehicles.

Also, the support column 21 is a single pole erected on the upper surface of the floor, but it is not limited to this, and it is needless to say that the scanner may be suspended from a wire stretched between the two poles. Nor.

Further, the means for detecting the deviation of the optical axis of the returning feedback beam has been described in the case of using a lens and a photo sensor. However, if the laser beam does not spread, the return beam is focused using a lens. The photo sensor detection may be performed as it is without performing.

As described above, according to the first aspect of the present invention, a scanner provided on the ground and a retroreflective device provided at a position serving as a reference point of a route of an unmanned vehicle and separated from the scanner are provided. The scanner scans the light beam emitted from the light beam generating means so as to intersect the running surface of the unmanned vehicle, the light beam including the retroreflecting means, and scanning the path of the unmanned vehicle. Light beam scanning means for drawing
Feedback beam detection means for detecting a deviation of the optical axis of the return beam reflected and reflected by the retroreflection means, and directional axis correction for correcting the direction of the scanning surface of the light beam based on a signal detected by the feedback beam detection means Means, and a control unit, and the direction axis correcting means is arranged so that the light beam generating means, the light beam scanning means, and the return beam detecting means are caused to deflect in a horizontal direction with respect to the light beam scanning surface. A direction in which the roll axis is twisted on a vertical plane intersecting the light beam scanning surface, the shaft rotating motor, the light beam generating means, the light beam scanning means, the feedback beam detecting means, and the vertical axis rotating motor being integrally integrated; The retroreflecting means is composed of two corner cubes vertically arranged at predetermined positions vertically,
The control unit controls the direction axis correcting means based on the signal detected by the feedback beam detecting means, and guides the unmanned vehicle with the light beam whose scanning direction has been corrected.

Therefore, even when the front surface of the scanner swings back and forth with respect to the vertical plane, or rolls with respect to the vertical plane, the direction of the scanning surface of the scanning light beam can be automatically corrected to the normal direction, The structure of the support can be simplified, and the size and weight can be reduced.

In addition, there is an effect that an unmanned vehicle can be accurately guided even in a place where the route is long, a place where the route has irregularities and a place where there is vibration.

According to the second aspect of the present invention, in addition to the effect of the first aspect of the present invention, the direction of the scanning surface of the light beam can be automatically corrected even when the scanner swings in the horizontal direction. It can be even wider.

[Brief description of the drawings]

1 to 5 are views for explaining a part of the configuration, FIG. 1 is a partially cutaway perspective view showing the configuration of a scanner, FIG. 2 is a schematic explanatory view of a guiding device, FIG. 3 is a perspective view for explaining the operation of the guiding device, FIG. 4 is a diagram for explaining the operation of the retroreflection means, FIG. 5 is a diagram for explaining the shake correcting operation of the guide device, and FIG. Normal state without
FIG. 5 (B) shows a state of swinging. FIGS. 6 to 7 are drawings according to the first aspect of the present invention, wherein FIG. 6 is a partially cutaway perspective view showing the configuration of a scanner, and FIG. FIG. 7 (B) is a plan view for explaining the operation of the retroreflection means. FIGS. 8 to 9 are drawings according to the second aspect of the present invention. FIG. 8 is a partially cutaway perspective view showing the configuration of a scanner, and FIG. FIGS. 9 (B) and 9 (B) are drawings for explaining the operation of the retroreflecting means. FIGS. 9 (B) and (i) are front views and FIGS. 9 (B) and (ii).
Is a side view, and FIGS. 9 (B) and (III) are plan views. 10 to 12 are views for explaining the prior art, FIG. 10 is a configuration explanatory view of a conventional guidance device, FIG. 11 is a partially cutaway perspective view of the scanner 100, and FIG. It is a block diagram of a control circuit of an automatic guided vehicle. 1 ', 1 "... Scanner 2 ... Corner cube 3 ... Unmanned carrier 4 ... Path 11 ... Laser generator 13 ... Scanning mirror 14 ... Scanning motor 15 ... Rotating frame 16 ... Lens 17 Photo sensor 18 Vertical axis rotation motor 19 Fixture 20 ', 20 "Control unit 41 Roll axis rotation motor 43 Slide motor

Claims (2)

(57) [Claims] 1. A scanner provided on the ground, and retroreflecting means provided at a position serving as a reference point of a path of an unmanned vehicle and spaced apart from the scanner, wherein the scanner comprises a light beam generating means, a light beam The light beam emitted from the generating means includes the retroreflective means and scans so as to intersect the running surface of the unmanned vehicle to form a path of the unmanned vehicle, and the light beam is reflected by the retroreflective means. Return beam detection means for detecting the deviation of the optical axis of the recursive return beam,
A direction axis correcting unit that corrects the direction of the scanning surface of the light beam based on the signal detected by the return beam detecting unit, and a control unit, and the direction axis correcting unit includes a light beam generating unit; A vertical axis rotating motor for causing the light beam scanning means and the return beam detection means to oscillate in the horizontal direction with respect to the light beam scanning surface; and the light beam generation means, the light beam scanning means, the feedback beam detection means, and the vertical axis rotation. And a roll motor for rotating the roll shaft in a direction in which the roll shaft is twisted on a vertical plane that intersects the light beam scanning plane integrally with the moving motor. The control unit controls the direction axis correcting unit based on the signal detected by the feedback beam detecting unit, and controls the direction axis correcting unit based on the signal detected by the feedback beam detecting unit. Unmanned vehicle guidance system which uses a light beam, characterized in that it has by over arm so as to induce an unattended vehicle. 2. A scanner provided on the ground, and retroreflecting means provided at a position serving as a reference point on a path of an unmanned vehicle and spaced apart from the scanner, wherein the scanner comprises a light beam generating means, a light beam The light beam emitted from the generating means includes the retroreflective means and scans so as to intersect the running surface of the unmanned vehicle to form a path of the unmanned vehicle, and the light beam is reflected by the retroreflective means. Return beam detection means for detecting a deviation from the optical axis of the recursive return beam,
A direction axis correcting unit that corrects the direction of the scanning surface of the light beam based on the signal detected by the return beam detecting unit, and a control unit, and the direction axis correcting unit includes a light beam generating unit; A vertical axis rotating motor for causing the light beam scanning means and the feedback beam detection means to oscillate in the horizontal direction with respect to the light beam scanning surface; the light beam generating means, the light beam scanning means, the feedback beam detection means, and the vertical axis rotation; A roll shaft rotating motor for rotating the roll shaft in a direction in which the roll shaft is twisted on a vertical plane intersecting the light beam scanning surface integrally with the moving motor; a light beam generating means, a light beam scanning means, and a feedback beam detecting means; A vertical axis rotating motor and a roll motor for horizontally moving the roll axis rotating motor integrally with each other, and the retroreflection means is vertically positioned on the same vertical plane at the predetermined position. The control section is provided with three corner cubes having different horizontal arrangement positions, and the control section controls the direction axis correcting section based on a signal detected by the feedback beam detecting section to perform scanning. An unmanned vehicle guidance device using a light beam, wherein the unmanned vehicle is guided by the light beam whose direction has been corrected.