JPH01161333A - Controller for moving body - Google Patents

Abstract

PURPOSE:To set the reference position of a moving body in a short time without needing skill and experience by providing a sensor detecting the home position of the moving body and moving the reference position only by the operation of an input key. CONSTITUTION:A driving part 2 drives the moving body 1 movable in a left direction L and a right direction R. The sensor 3 is arranged in the home position of the moving body 1, and when it comes to its home position, an output from the sensor 3 is inverted. A control part 4 receives the output from the sensor 3, and simultaneously outputs the moving signal of the moving body 1 to the driving part 2. The input key 5 is connected to the control part 4, and information for determining the reference position is inputted from the input key 5. Namely, the location obtained by moving the moving body 1 by the inputted moving amount in the direction L from its home position is the reference position of the body 1. Thus, jigs are not needed, and the reference position of the moving body can be set in a short time without needing experience and skill.

Description

Detailed Description of the Invention (a) Industrial Application Field This invention relates to a control device for a movable body such as a lens or mirror of an optical system in a copying machine, and in particular to a standard necessary for determining the amount of movement of a movable body. The present invention relates to a position setting device.

(b) Prior Art In order to control the amount of movement of a moving body, it is necessary to accurately set its reference position. For example, in the optical device of a copying machine,
It is necessary to change the position of the lens, which is a movable body, as the magnification changes, but if the length of movement of this lens is not accurate, the focal position will shift, making it impossible to obtain an accurate image. Similarly, accuracy is required in setting the reference position of a mirror whose position is changed depending on the magnification, a scanner for scanning an original, and the like.

Conventionally, a mechanical jig or the like has been used to set the reference position of such a moving body. Specifically, a sensor is installed at the position that should be the reference position of the moving object, and the moving object comes to the position where this sensor is switched on and off to become the reference state (for example, when the moving object is a lens, it is in the same size state). I will try to adjust the position like this.

(C) Problems to be solved by the invention However, with the above-mentioned device, it is necessary to use a jig or the like for position adjustment, which requires skill and requires a long time for adjustment. There was also. Furthermore, there was also the drawback that accurate positioning and IKI adjustment were not possible.

SUMMARY OF THE INVENTION An object of the present invention is to provide a control device for a movable body that can accurately set the base weight position of a movable body in a short time and does not require any skill at all.

(d) Means for Solving Problems This invention provides a sensor for detecting the home position of a moving body, a means for inputting the amount of movement in a fixed direction from the home position detected by the sensor, and A means for setting the position as a reference position of the moving object.

FIG. 1 shows a schematic configuration diagram of a control device for a moving body according to the present invention.

Reference numeral 1 denotes a moving body that can move in the left direction (left direction) or the R direction (right direction), and this moving body 1 is driven by a drive unit 2 such as a motor. A stamping motor or the like is used as the motor, and the amount of movement of the moving body 1 is accurately controlled. A sensor 3 is arranged at the home position of the moving body 1, and the output of the sensor 3 is reversed when the moving body 1 comes to the home position.

The control unit 4 receives the output from the sensor 3 and also outputs the movement number 13 of the moving body l to the drive unit 2.An input key 5 is connected to the control unit 4, and a reference signal is obtained from the input key 5. Information for determining the position is input. The information for determining this reference position is the amount of movement of the moving object l from the home position to the reference position in the left direction. That is, the reference position of the moving body 1 is the position where the moving body 1 is moved in the direction from the home position by the amount of movement inputted from the input key 5.

(e) Operation With the above configuration, the reference position of the moving body 1 is determined by the value inputted from the input key 5 to the control section 4. Therefore, even if the position of the moving body 1 deviates from the position of the sensor 3, for example, if the value inputted from the input key 5 is corrected by the amount of the deviation, the position adjustment of the moving body 1 is not necessary. Also, for example, if the moving object 1 is composed of a lens and the focal length of the lens is different from the standard one, the image formed in the standard prone state (in the same magnification state) will be the same as the one in the same magnification. The amount of movement of the moving body 1 is input using the input key 5. In this way, by setting the reference position of the moving object l by the amount of movement to the left from the sensor 3, it is possible to set the reference position accurately in a short time without requiring any skill. Become.

Note that once the reference position of the moving body 1 is set, the moving distance of the moving body 1 is set based on the reference position.

For example, the following control is performed to bring the moving body to the reference position.

Assuming that the first position of the moving body 1 is at XI in FIG. 1, the output of the sensor at that time is "H", so the moving body 1 is moved to the left. And the sensor output is “HI”
When it detects when it falls from I to “L”, that is, when it reaches the home position, it moves from that positionff1
Moves by L (value input with input key-5) and stops. This position is the reference position fiP.

Also, when moving object 1 is at position X2, the sensor output is “
°L", at this time the moving body 1 is moved in the R direction. Then, when the sensor output rises from u L II to "H", that is, when the home position is reached, the moving direction of the moving body 1 is reversed. (Move to the left) After confirming that the sensor output has fallen from °'H to "L" again, move from that position by the distance iL and stop. This position becomes the reference position Wlp. By controlling the content of 0 or more, the moving object l is always passed through the home position no matter where it is, and the reference position 'f is accurately set.
You can take it to IP.

(f) Embodiment FIG. 2 shows a schematic diagram of an optical device of a copying machine to which the present invention is applied.

The optical device is composed of a light source 10, first to sixth mirrors 11 to 16, and a lens 17. The fifth mirror 14.15 moves horizontally.

Note that 18 is a table glass on which a document is placed, and 19 is a photosensitive drum.

The lens 17 has a lens flange 1 as shown in FIG.
7a and a lens barrel 17b, the lens barrel 17
b can be finely adjusted in the left-right direction with respect to the lens flange 17a.

FIG. 4 shows a drive mechanism for the lens 17.

A lens drive pulley 171 is engaged with the drive shaft of the lens drive motor 170, and a lens drive wire 174 is stretched between the lens drive pulley 171 and two idle boobies 17172 and 173. Idle pulley 172,1
73 is arranged at a position that covers the movement range of the lens 17, and a lens holder 175 is fixed to a lens drive wire 174 between these two pulleys. The lens 17 is attached to this lens holder 175, and the lens holder 17
5 is a lens guide shaft 176 provided parallel to the lens drive wire 174 between the idle pulleys 172 and 173.
is slidably engaged with. A light reflecting plate 175a is formed on the lens holder 175, and the sensor 17 for detecting the home position is positioned exactly opposite to this reflecting plate 175a when the lens 17 is at the home position.
7 is provided. When the lens holder 175 moves to the left side (L direction) in the figure, the magnification increases, and when it moves to the right side (R direction), the magnification decreases.

FIG. 5 is a diagram showing a drive mechanism for the fourth mirror 14 and the fifth mirror 15. 4th. Motor 1 for driving the fifth mirror
40 is engaged with a drive pulley 141, and this drive pulley 17
Mirror drive wire 1 between 141 and idle pulley 142
The mirror unit on which the mirror 43 is hung is formed by fixing the fourth mirror 14 and the fifth mirror 15 to a mirror support 144 in the direction perpendicular to the plane of the paper, and the support parts 144a on both sides of the mirror support 144. Mirror guide shafts 145, 146 are engaged with the mirror guide shafts 145, 146.
They can slide freely against each other.

Further, a light reflecting surface 144C is formed on the guide portion 144a, and the fourth mirror 14. A sensor 147 for detecting a home position is provided, which is positioned exactly opposite the reflective surface of the fifth mirror 15 when it is located at the home position.

The lens drive motors 170, 140 are each composed of a stepping motor, and each pulse drives the lens 17 and the fourth mirror 14. The diameter of the boolean 17171.141 is determined so that the fifth mirror 15 moves by 0.1 mm.

FIG. 6 shows a block diagram of the control section. CPU20
is the input key 21. Sensor 1 for home position detection
77.147, and a stepping motor drive circuit 22.23 which is a drive control circuit for the motor 170.140. CPU20 is l? When set to the simulation run mode, which includes OM and RAM and controls the drive of the motor 170.140 as described later, the reference positions of the lens 17 and mirror 14.15 are set based on the values input from the input key 21. Set. Further, in the normal operation mode, the lens 17 and the mirror 14 are set at the same magnification and at variable magnification based on the reference position set as described above.
15 is determined, and the lens 17 and mirrors 14 and 15 are moved to that position.

FIG. 7 is a flowchart showing the operation when the simulation mode is set and the reference positions of the fourth mirror 14 and the fifth mirror 15 are set. This simulation mode is executed when a switch (not shown) is pressed.

Assuming that the reference position of the lens 17 has already been set first, the lens 17 is at this reference position.

In the state (at the same magnification), accept the input of the number of pulses from the input key 21 (nl), at this time mirror 14.15
The position of the sensor 147 for detecting the home position of the lens 17 is determined by a known characteristic error (so-called Ilo, etc.) of the lens 17.
Set the reference position so that it is to the left of the home position HP regardless of the The reference position is this standard reference position P
The position of the sensor 147 is set so that it is located at Therefore, the number of pulses L corresponding to the distance from the home position HP to the standard reference position P is a value determined at the time of design, that is, a known value. On the other hand, lens 1
7. If a standard one is not used, the I of that lens
The number of pulses L to the reference position P' based on the deviation amount of lo
′ is determined. For example, Ilo is + compared to standard Ilo.
Assuming that the distance is 2 mm, in this case the mirror 14.15 needs to be shifted 1 mm to the right, so the number of pulses equivalent to 1 mm is 10 pulses to the standard reference position. Find L' by subtracting from . Temporarily L
If there are 50 pulses, then L' = 50-10
=40 pulses. Therefore, in nl, key input is 40 in this example. Similarly, if 110 of the lens 17 used is 12 mm longer than the standard one, add 10 pulses to the number of pulses up to the standard reference position, ie 60, with the nl key. Note that the above deviation amount of 10 pulses may be manually input directly. In this case, the control section calculates 5O-10=40 to obtain 40 pulses.

When the number of pulses is input at nl, the reference position is set on the memory at n2.

Subsequently, after n3, the mirrors 14 and 15 are moved to the reference position set at n2.

First, in n3, the on/off state of the sensor 147 is determined. In this embodiment, as shown in FIG. 1, if the initial state is the on state of the sensor, the mirrors 14 and 15 are moved to the left. Also, if the initial state is the sensor off state, mirror 1
4. Move 15 to the right. If the sensor 147 is off at n3, the motor 140 is rotated clockwise by one pulse at n4 in order to move the mirror 14.15 to the right. Repeat n4 until the sensor 147 is turned on. When the sensor is turned on, proceed as n5→n6. Furthermore, when we proceeded to n6, mirror 14.15 moved slightly to the right from the home position due to inertia! (The robot stops in state a) after moving a distance of much shorter than 1 mm.

At n6, the motor 140 is rotated counterclockwise by one pulse in order to move it to the left. Then, n6 is repeated until the sensor 147 turns from on to off, and in the meantime, at n8, a counter provided in the CPU is cleared. This counter increments by one each time the motor 140 rotates counterclockwise by one pulse. Then, the motor 140 is operated until the count value of the counter reaches L.
Rotate counterclockwise. When the contents of the counter count the number of pulses corresponding to the reference position, the driving of the motor is stopped. This moves mirrors 14, 15 to their reference positions.

The above operations complete the setting of the reference position and the movement control of the mirrors 14 and 15 to that position.

Thereafter, when the magnification is changed in the normal operation mode, the mirrors 14 and 15 will also move based on the changed magnification, but the amount of movement will be based on the reference position set in n2.

Although the reference position of the mirrors 14 and 15 can be set in the same magnification state as described above, it is also possible to set the reference position of the lens 17 in the same magnification state using the same procedure. Further, fine adjustment of the magnification of the lens 17 can be performed using the same procedure. For example, if the actual magnification is slightly larger than the predetermined magnification, the reference position is shifted toward the reduction side. All you need to do at that time is to enter the simulation mode and input a corrected value for the number of pulses to shift from input key 5 to the reduction side.

In this way, the movement of the reference position (correction of the reference position) can be performed only by operating the input key, so no jig is required, and it can be carried out in an extremely short time without the need for skill or experience. be able to.

(A) Effects of the Invention As described above, according to the present invention, workability is extremely high because there is no need for conventional jigs. It is possible to set the reference position of the moving object.Moreover, it has the advantage of being more accurate than devices that use jigs.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing a configuration diagram of the present invention. 2 is a schematic diagram of an optical device of a copying machine to which an embodiment of the present invention is applied, FIG. 3 is a schematic configuration diagram of a lens device, FIG. 4 is a configuration of the lens drive section, and FIG. , FIG. 6 is a block diagram of the control section, FIG. 7 is a flowchart showing the general operation of the control section, and FIG. 8 is a diagram for explaining the operation contents of the flowchart. . 147.17 Sensor for home position detection, 140.170-Stepping motor, 21-Manual key.

Claims (1)

[Claims] (1) A sensor that detects the home position of a moving object,
A control device for a moving body, comprising means for inputting an amount of movement in a fixed direction from a home position detected by the sensor, and means for setting the moved position as a reference position of the moving body.