JP4864005B2 - 光レーザ誘導システム装置及び方法 - Google Patents
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
- G05B19/4202—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the programme medium using a drawing, a model
- G05B19/4207—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the programme medium using a drawing, a model in which a model is traced or scanned and corresponding data recorded
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36439—Guide arm in path by slaving arm to projected path, beam riding
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optics & Photonics (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Description
Claims (13)
- レーザビームを照射するレーザ源と、
ビークルに取り付けられ、前記レーザ源から照射されるレーザビームを受光するレーザ受信機を備えて、該レーザ受信機上に予め設定された基準位置を基準とした該レーザ受信機上におけるレーザビームの入射位置を示す信号を発生するように構成されたレーザセンサと、
前記ビークルに取り付けられたビークル駆動アクチュエイタと、
前記ビークルに取り付けられ、前記レーザ受信機上のレーザビームの入射位置を示す信号を受信するために前記レーザセンサに連結され、そして前記ビークル駆動アクチュエイタに連結される制御装置と、
前記ビークルに取り付けられたエンドエフェクタアクチュエイタと、
該エンドエフェクタアクチュエイタに連結され、前記制御装置に連結され、製造または製作プロセスを行うために前記ビークルに取り付けられているエンドエフェクタとを有して構成され、
前記レーザ源は、前記ビークルの進行経路を誘導路に沿うようにするための誘導路を示すレーザビームと、制御メッセージを示すレーザビームとを、前記レーザセンサに向けて時分割に照射し、
前記制御装置は、誘導路を示すレーザビームの前記レーザ受信機上の入射位置と前記レーザ受信機上の基準位置との間の距離が所定の距離よりも大きい場合に、前記ビークル駆動アクチュエイタを制御し、
前記制御装置は、前記レーザセンサから受信される、前記制御メッセージに対応する信号を認識して解釈するように構成され、
前記制御装置は、前記エンドエフェクタを制御することを特徴とする、ビークル用の光レーザ誘導システム。 - ビークル駆動アクチュエイタはサーボモータを具備している請求項1記載の光レーザ誘導システム。
- さらに、ビークル駆動アクチュエイタに関連されるビークル駆動システムを具備し、制御装置はビークル駆動アクチュエイタによりビークル駆動システムを制御する請求項1記載の光レーザ誘導システム。
- ビークル駆動システムは少なくとも1つの駆動可能なホイールを具備している請求項3記載の光レーザ誘導システム。
- ビークル駆動システムは少なくとも1つの操縦可能なホイールを具備している請求項3記載の光レーザ誘導システム。
- ビークル駆動システムは、第1の駆動機構と第2の駆動機構とを具備し、第1の駆動機構は第2の駆動機構に関して差相対速度で駆動することが可能である請求項3記載の光レーザ誘導システム。
- 制御装置はビークル駆動アクチュエイタによりビークル駆動システムを制御し、誘導路を示すレーザビームのレーザ受信機上の入射位置とレーザ受信機上に予め設定された基準位置との間の距離が所定の距離よりも大きい場合にビークルの移動方向を変化させ、ビークルはレーザビームの位置に対応するパスに沿って移動する請求項1記載の光レーザ誘導システム。
- ビークルは輪郭表面に対応している3次元路に沿って移動する請求項7記載の光レーザ誘導システム。
- 誘導路は輪郭表面に対応する3次元路である請求項1記載の光レーザ誘導システム。
- さらに、レーザ源を制御するためにレーザ源に連結されているプロセッサを具備している請求項1記載の光レーザ誘導システム。
- プロセッサは、輪郭表面上のビークルの向きにより、ビークルの表面路に関してレーザセンサの位置の横方向のオフセットおよび垂直方向のオフセットを考慮に入れた誘導路プログラミングアルゴリズムに応答してレーザ源を制御する請求項10記載の光レーザ誘導システム。
- 単一のコンピュータシステムがプロセッサと制御装置の両者を具備している請求項10記載の光レーザ誘導システム。
- レーザ源から、ビークルを誘導するための誘導路を示すレーザビームと、制御メッセージを示すレーザビームとを、前記ビークルに取り付けられたレーザセンサに向けて時分割に照射するステップと、
前記レーザセンサ上に設けられたレーザ受信機上の予め設定された基準位置を基準にした、該レーザ受信機上におけるレーザビームの入射位置を示す信号を生成して、該信号を前記レーザセンサから、前記ビークルに取り付けられた制御装置へ送信するステップと、
該制御装置により、前記レーザセンサから受信される、前記制御メッセージに対応する信号を認識して解釈するステップと、
誘導路を示すレーザビームの前記レーザ受信機上の入射位置と前記レーザ受信機上の基準位置との間の距離が所定の距離よりも大きい場合に、前記制御装置から、前記ビークルに取り付けられたビークル駆動アクチュエイタに向けて制御信号を送信するステップとを有し、
前記ビークルには、前記制御装置により制御されるエンドエフェクタが取り付けられ、
該エンドエフェクタにより、少なくとも製造プロセスおよび非製造プロセスのいずれか1つを実行するステップをさらに有することを特徴とする、レーザビームによりビークルを誘導する方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/986,292 | 2004-11-12 | ||
US10/986,292 US7536242B2 (en) | 2004-11-12 | 2004-11-12 | Optical laser guidance system apparatus and method |
PCT/US2005/040501 WO2006083340A1 (en) | 2004-11-12 | 2005-11-03 | Optical laser guidance system apparatus and method |
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JP2008520046A JP2008520046A (ja) | 2008-06-12 |
JP4864005B2 true JP4864005B2 (ja) | 2012-01-25 |
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JP2007541281A Expired - Fee Related JP4864005B2 (ja) | 2004-11-12 | 2005-11-03 | 光レーザ誘導システム装置及び方法 |
Country Status (6)
Country | Link |
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US (2) | US7536242B2 (ja) |
EP (1) | EP1810100B1 (ja) |
JP (1) | JP4864005B2 (ja) |
KR (1) | KR101146468B1 (ja) |
ES (1) | ES2621193T3 (ja) |
WO (1) | WO2006083340A1 (ja) |
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US7536242B2 (en) | 2009-05-19 |
KR20070084628A (ko) | 2007-08-24 |
US20090198401A1 (en) | 2009-08-06 |
US7899618B2 (en) | 2011-03-01 |
WO2006083340A1 (en) | 2006-08-10 |
ES2621193T3 (es) | 2017-07-03 |
EP1810100B1 (en) | 2017-01-04 |
EP1810100A1 (en) | 2007-07-25 |
KR101146468B1 (ko) | 2012-05-24 |
JP2008520046A (ja) | 2008-06-12 |
US20060106507A1 (en) | 2006-05-18 |
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